Calibration plate and calibration method for full-mouth tooth implantation robot

Abstract

The invention discloses a calibration plate and a calibration method for a full-mouth tooth implantation robot, and the calibration plate comprises an optical calibration plate which is arranged outside an oral cavity, and a retention substrate which is connected with the optical calibration plate, the retention substrate is provided with radioactive mark points, the retention substrate is provided with retention nail holes, and fixing nails are arranged in the retention nail holes. The in-place base plate is connected with the retention base plate through a connecting piece, a containing cavity is formed among the in-place base plate, the connecting piece and the retention base plate, and the containing cavity is arranged on the periphery of the operation area alveolar bone model in a surrounding mode. The in-place base plate is connected to the retention base plate, the marker is matched with the surface of the alveolar bone, and by means of the preset position relation between the retention nail holes in the retention base plate and the in-place base plate, when the in-place base plate is located on the alveolar bone model, the retention nail holes are just located at the preset positions which do not interfere with robot operation; therefore, the situation that the retention nail disturbs the robot to prepare the planting hole due to the fact that the marker is fixed at will is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of oral implantation, and in particular to a calibration plate and a calibration method for a full-mouth dental implantation robot. Background Art

[0002] In recent years, with the rapid development of medical robotics technology, oral dental implant robots have been used in dental implants. The application of robotics technology can effectively reduce the large deviations caused by free-hand operation in complex surgeries and reduce the risk of damaging adjacent important anatomical structures. At the same time, implant robotics technology can significantly reduce the dependence of implant technology on doctor experience, which is conducive to helping young implant doctors perform complex dental implant surgeries.

[0003] Compared with conventional manual implant technology, the oral dental implant robot needs to be aligned with the calibration plate installed in the patient's mouth through an external robotic arm, so that the robotic system can unify the real coordinate system with the virtual coordinate system in the virtual surgical plan through the calibration plate, so as to track and navigate the movement of the robotic arm, and then move the robotic arm to execute preset instructions, so as to complete operations such as implant cavity preparation and implant placement.

[0004] However, in actual applications, the calibration plate installed in the patient's mouth requires the patient to have remaining teeth or plump alveolar bone in the mouth to provide safe and reliable retention conditions for the calibration plate. Therefore, the existing dental implant robot technology can only be used in situations where a few teeth are missing, or where the entire mouth is missing but the alveolar bone morphology is relatively plump.

[0005] Among them, in edentulous patients with plump alveolar bones, the preparation stage of the robot requires a large flap operation on the non-operation area, and then the marker plate is fixed to the non-manual alveolar bone model with the help of supporting pins or retention pins to achieve the fixation of the marker plate.

[0006] However, in a few dental implant surgeries, such as mandibular all-on-4 cases, the alveolar bone in the non-operation area of ​​the patient shows severe atrophy, and the inferior alveolar nerve is close to the bone surface. Therefore, this area cannot provide safe and sufficient bone conditions for fixing the calibration plate. When the calibration plate is fixed on the relatively plump alveolar bone in the operation area, the defects of the fixing method in the prior art will cause interference between the fixing pins and the operation of the robotic arm in the operation area (mainly manifested as the fixing pins nailed on the alveolar bone will invade the area of ​​the alveolar bone to be operated, thereby interfering with the robotic arm), ultimately making it impossible to use implant robot technology for this type of case. Summary of the invention

[0007] The purpose of the present invention is to provide a calibration plate and calibration method for a full-mouth dental implant robot, so as to solve the problem in the prior art that the robot is interfered with the preparation of implant cavities and the placement of implants due to the arbitrariness and irregularity of autonomously determining fixed positions.

[0008] In order to solve the above technical problems, the present invention specifically provides the following technical solutions:

[0009] A calibration plate and calibration method for a full-mouth dental implant robot, comprising an optical calibration plate, the optical calibration plate being arranged outside the oral cavity, the optical calibration plate being provided with a tracking mark for robot follow-up registration;

[0010] A fixing base plate, the fixing base plate is connected to the optical calibration plate, a radioactive marking point is arranged on the fixing base plate, a fixing nail hole is arranged on the fixing base plate, a fixing nail is arranged in the fixing nail hole, and the fixing nail is used to install the fixing base plate on one side of the alveolar bone model;

[0011] The seating substrate is connected to the retaining substrate via a connector to form an integral structure, a containing cavity is formed between the seating substrate, the connector and the retaining substrate, and the containing cavity surrounds the periphery of the alveolar bone model to position the retaining pin hole at a preset position outside the alveolar bone model.

[0012] As a preferred solution of the present invention, the connecting member can be cut off to disconnect the seating substrate from the fixing substrate, and the seating substrate can be taken out to expose the operating area after the connecting member is cut off.

[0013] As a preferred solution of the present invention, the fixing substrate is connected to the optical calibration plate via a detachable structure.

[0014] As a preferred solution of the present invention, the detachable structure includes a clamping claw sleeve arranged on the fixing base plate and an engaging claw pin arranged on the optical calibration plate, and the clamping claw sleeve and the engaging claw pin are both provided with claw holes, and the two sets of claw holes overlap when the engaging claw pin and the clamping claw sleeve cooperate, and the overlapping claw holes form a fixed connection between the clamping claw sleeve and the engaging claw pin by embedding a square pin.

[0015] As a preferred solution of the present invention, the claw hole includes a circular hole and a plurality of strip holes connected to the circular hole, the square pin includes a round pin and a strip pin connected to the round pin, the optical calibration plate is rotated around the center line axis of the circular hole in the clamping claw sleeve through the engaging claw pin to change the setting angle of the optical calibration plate, and the strip pin fixes the position of the optical calibration plate by being inserted into the strip hole.

[0016] As a preferred solution of the present invention, the cross-section of the seating substrate is L-shaped, wherein the short side of the L-shaped seating substrate is fitted on the inner surface of the alveolar bone, and the long side is fitted on the top surface of the alveolar bone.

[0017] As a preferred solution of the present invention, the inclusion cavity is specifically a cavity with an opening at the bottom formed by the short side of the L-shaped seating substrate, the long side of the L-shaped seating substrate, the connecting member and the surface of the retaining substrate close to the seating substrate, and the inclusion cavity is installed on the periphery of the alveolar bone model from top to bottom;

[0018] Wherein, the surface of the retaining substrate close to the seating substrate is arranged on the outer surface of the alveolar bone model.

[0019] As a preferred solution of the present invention, the surface of the containing cavity that matches the alveolar bone is configured as an ergonomic surface that conforms to the surface contour of the alveolar bone.

[0020] In addition, the present invention also provides a calibration method based on the calibration plate for the full-mouth dental implant robot, which specifically includes the following steps:

[0021] Prefabricate an integral structure consisting of the positioning substrate, the connecting piece, and the fixing substrate;

[0022] Install the seating substrate at the position of the alveolar bone model, and install the retention substrate on the alveolar bone model by passing the fixing pins through the fixing pin holes;

[0023] The optical calibration plate is mounted on the fixed base plate through a detachable structure.

[0024] As a preferred solution of the present invention, the relative positional relationship between the retaining pin hole on the retaining substrate and the seating substrate satisfies the following conditions:

[0025] The seating substrate forms a corresponding relationship with the fixing nail holes through a connecting piece, and the positioning position of each fixing nail hole does not interfere with the operation of the dental implant robot.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] The present invention connects a positioning substrate to a retaining substrate, and fits a marker to the surface of the alveolar bone through the retaining substrate, the positioning substrate and the inner surface of the connecting piece, and utilizes a preset positional relationship between a retaining pin hole on the retaining substrate and the positioning substrate, so that the retaining pin hole is exactly in a preset position that will not interfere with the operation of the robot, thereby avoiding the situation where the retaining pin interferes with the robot's preparation of the implant cavity due to arbitrary fixing of the marker. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0029] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 It is a partial structural schematic diagram of the present invention, specifically a structural schematic diagram of a claw hole pin and a claw hole sleeve.

[0031] The numbers in the figure represent the following:

[0032] 1. Optical calibration plate; 2. Tracking mark; 3. Fixed base plate; 4. Radioactive mark point; 5. Fixed pin hole; 6. Position base plate; 7. Connector; 8. Containing cavity; 9. Removable structure; 10. Clamping claw sleeve; 11. Engaging claw pin; 12. Claw hole; 13. Square pin; 14. Round hole; 15. Strip hole; 16. Round pin; 17. Strip pin. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] like Figure 1 to Figure 2 As shown, the present invention provides a calibration plate and calibration method for a full-mouth dental implant robot, including an optical calibration plate 1, which is arranged outside the oral cavity and has a tracking mark 2 for robot follow-up alignment.

[0035] A fixing base plate 3 is connected to the optical calibration plate 1, a radioactive marking point 4 is arranged on the fixing base plate 3, a fixing pin hole 5 is arranged on the fixing base plate 3, a fixing pin is arranged in the fixing pin hole 5, and the fixing pin is used to install the fixing base plate 3 on one side of the alveolar bone model.

[0036] The seating substrate 6 is connected to the retaining substrate 3 through a connecting piece 7 to form an integral structure. A containing cavity 8 is formed between the seating substrate 6, the connecting piece 7 and the retaining substrate 3. The containing cavity 8 surrounds the periphery of the alveolar bone model to position the retaining pin hole 5 at a preset position outside the alveolar bone model.

[0037] The device relies on the seating substrate 6 to be set on the alveolar bone model, so that the retention substrate 3 passively fits on the outer surface of the alveolar bone, and through the relative position between the seating substrate 6 and the retention pin hole 5 designed in advance, when the seating substrate 6 is located on the alveolar bone model, the position of the retention pin hole 5 on the outer surface of the alveolar bone is in a position that will not interfere with the operation of the dental implant robot, thereby avoiding the problem of the robot coming into contact with the micro-fixation pin during the operation.

[0038] Furthermore, the connecting member 7 can be cut off to disconnect the seating substrate 6 from the fixing substrate 3 , and the seating substrate 6 can be taken out to expose the operating area after the connecting member 7 is cut off.

[0039] After the seating substrate 6 is installed on the alveolar bone model, the position of the retaining pin hole 5 can be positioned at a preset position. At this time, an operation hole corresponding to the cavity can be opened on the seating substrate 6 before the operation, so that the drill bit of the dental implant robot can pass through the hole to perform implantation. However, a further preferred solution can also be to cut off the connecting piece 7, so that the seating substrate 6 is disconnected from the retaining substrate 3, and then the seating substrate 6 is removed and taken out, so that a larger area of ​​the operation area can be exposed.

[0040] In addition, the optical calibration plate 1 is connected to the fixing substrate 3 via a detachable structure 9 , and the detachable structure 9 can disconnect the optical calibration plate 1 from the fixing substrate 3 .

[0041] The detachable structure 9 can prevent the optical calibration plate 1 from colliding with the machine when the patient wears it for CT photography due to the overall length of the structure. When performing CT photography, the optical calibration plate 1 can be removed by the detachable mechanism for CT photography and planning.

[0042] Furthermore, the detachable structure 9 includes a clamping claw sleeve 10 arranged on the fixing base plate 3 and an engaging claw pin 11 arranged on the optical calibration plate 1. Both the clamping claw sleeve 10 and the engaging claw pin 11 are provided with claw holes 12. The two sets of claw holes 12 overlap when the engaging claw pin 11 is matched with the clamping claw sleeve 10. The overlapping claw holes 12 form a fixed connection between the clamping claw sleeve 10 and the engaging claw pin 11 through the embedding of the square pin 13.

[0043] like Figure 2 As shown, the optical calibration plate 1 is connected to the fixing base plate 3 by the way of the engaging claw pin 11 and the clamping claw pin, so that the rotation of the optical calibration plate 1 can be completed to form an angle adjustment. That is, when the dental implant robot is used in specific operation, the operating angle of the robot sometimes needs to be adjusted according to the actual situation. Therefore, the setting angle of the optical calibration plate 1 is set to be adjustable, so that when the robot arm operates in the oral cavity, the tracking mark 2 on the optical calibration plate 1 can be aligned to form a real-time follow-up of the angle.

[0044] Moreover, the claw hole 12 includes a circular hole 14 and a plurality of strip holes 15 connected to the circular hole 14, the square pin 13 includes a circular pin 16 and a strip pin 17 connected to the circular pin 16, the optical calibration plate 1 rotates around the center axis of the circular hole 14 in the clamping claw sleeve 10 by engaging the claw pin 11 to change the setting angle of the optical calibration plate 1, and the strip pin 17 is inserted into the strip hole 15 to fix the position of the optical calibration plate 1. By inserting the strip pin 17 on the square pin 13 into the strip hole 15, the angle of the optical calibration plate 1 is fixed.

[0045] The cross section of the seating substrate 6 is L-shaped, wherein the short side of the L-shaped seating substrate 6 is fitted on the inner surface of the alveolar bone, and the long side is fitted on the top surface of the alveolar bone.

[0046] Specifically, the L-shaped seating substrate 6 can make the seating substrate 6 better fit on the alveolar bone, which fits the top surface of the alveolar bone and the inner surface of the alveolar bone, and cooperates with the connector 7 and the side of the fixing substrate 3 to wrap the entire alveolar bone, so that the positioning effect is better. At the same time, the L-shaped seating substrate 6 can further expand its contact area with the alveolar bone, and the short side of the L shape is set at a position where the alveolar bone is close to the inside of the oral cavity, which can increase its connection ability with the alveolar bone, ensuring that the optical calibration plate 1 located outside the oral cavity is installed on the fixing substrate 3. When it collapses due to gravity, the short side of the L shape and the main body of the seating substrate 6 can limit the optical calibration plate 1, so that it can be stably installed on the alveolar bone under the joint action of the seating substrate 6, the connector 7, the fixing substrate 3 and the fixing pins.

[0047] Furthermore, as shown in FIG1 , the containing cavity 8 is specifically a cavity with an opening at the bottom formed by the short side of the L-shaped seating substrate 6, the long side of the L-shaped seating substrate 6, the connecting piece 7 and the surface of the retaining substrate 3 close to the seating substrate 6, and the containing cavity 8 is installed on the periphery of the alveolar bone model from top to bottom.

[0048] The surface of the retaining substrate 3 close to the seating substrate 6 is arranged on the outer surface of the alveolar bone model, and the surface of the containing cavity 8 that matches the alveolar bone is arranged as an ergonomic surface that conforms to the surface contour of the alveolar bone.

[0049] The inner side surface of the containing cavity 8 is set as an ergonomic surface that completely matches the contour of the alveolar bone surface, so that it can be installed at a preset position on the alveolar bone surface, so that the entire device can be accurately positioned on the alveolar bone.

[0050] Based on the aforementioned calibration plate for full-mouth dental implant robot, the specific calibration method includes the following steps:

[0051] Prefabricate an integral structure consisting of the positioning substrate, the connecting piece, and the fixing substrate;

[0052] Install the seating substrate at the position of the alveolar bone model, and install the retention substrate on the alveolar bone model by passing the fixing pins through the fixing pin holes;

[0053] The optical calibration plate is mounted on the fixed base plate through a detachable structure.

[0054] As a preferred solution of the present invention, the relative positional relationship between the retaining pin hole on the retaining substrate and the seating substrate satisfies the following conditions:

[0055] The seating substrate forms a corresponding relationship with the fixing nail holes through a connecting piece, and the positioning position of each fixing nail hole does not interfere with the operation of the dental implant robot.

[0056] The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present application. The protection scope of the present application is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present application within the essence and protection scope of the present application, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present application.

Claims

1. A calibration plate for a full-mouth dental implant robot, characterized in that: include: An optical calibration plate (1), the optical calibration plate (1) being arranged outside the oral cavity, and the optical calibration plate (1) being provided with a tracking mark (2) for robot follow-up registration; A fixing base plate (3), the fixing base plate (3) being connected to the optical calibration plate (1), the fixing base plate (3) being provided with a radioactive marking point (4), the fixing base plate (3) being provided with a fixing nail hole (5), a fixing nail being provided in the fixing nail hole (5), and the fixing nail being used to install the fixing base plate (3) on one side of the alveolar bone model; A seating substrate (6), the seating substrate (6) being connected to the retaining substrate (3) via a connecting piece (7) to form an integral structure, a containing cavity (8) being formed between the seating substrate (6), the connecting piece (7) and the retaining substrate (3), the containing cavity (8) surrounding the periphery of the alveolar bone model to position the retaining pin hole (5) at a preset position outside the alveolar bone model.

2. The calibration plate for a full-mouth dental implant robot according to claim 1, characterized in that: The connecting piece (7) can be cut off to disconnect the seating substrate (6) from the fixing substrate (3); and the seating substrate (6) can be removed after the connecting piece (7) is cut off to expose the operating area.

3. The calibration plate for a full-mouth dental implant robot according to claim 1, characterized in that: The fixing substrate (3) is connected to the optical calibration plate (1) via a detachable structure (9).

4. The calibration plate for a full-mouth dental implant robot according to claim 3, characterized in that: The detachable structure (9) comprises a clamping claw sleeve (10) arranged on the fixing base plate (3) and an engaging claw pin (11) arranged on the optical calibration plate (1); the clamping claw sleeve (10) and the engaging claw pin (11) are both provided with claw holes (12); the two sets of claw holes (12) overlap when the engaging claw pin (11) and the clamping claw sleeve (10) cooperate; the overlapping claw holes (12) are embedded by a square pin (13) to form a fixed connection between the clamping claw sleeve (10) and the engaging claw pin (11).

5. The calibration plate for a full-mouth dental implant robot according to claim 4, characterized in that: The claw hole (12) comprises a circular hole (14) and a plurality of strip holes (15) connected to the circular hole (14); the square pin (13) comprises a round pin (16) and a strip pin (17) connected to the round pin (16); the optical calibration plate (1) is rotated around the center axis of the circular hole (14) in the clamping claw sleeve (10) through the engaging claw pin (11) to change the setting angle of the optical calibration plate (1); and the strip pin (17) is inserted into the strip hole (15) to fix the position of the optical calibration plate (1).

6. The calibration plate for a full-mouth dental implant robot according to claim 1, characterized in that: The cross section of the seating substrate (6) is L-shaped, wherein the short side of the L-shaped seating substrate (6) is fitted on the inner surface of the alveolar bone, and the long side is fitted on the top surface of the alveolar bone.

7. The calibration plate for a full-mouth dental implant robot according to claim 6, characterized in that: The containing cavity (8) is specifically a cavity with an opening at the bottom formed by the short side of the L-shaped seating substrate (6), the long side of the L-shaped seating substrate (6), the connecting piece (7) and the surface of the fixing substrate (3) close to the seating substrate (6), and the containing cavity (8) is installed on the periphery of the alveolar bone model from top to bottom; Wherein, the surface of the retaining substrate (3) close to the seating substrate (6) is arranged to fit the outer surface of the alveolar bone model.

8. The calibration plate for a full-mouth dental implant robot according to claim 6, characterized in that: The surface of the containing cavity (8) that matches the alveolar bone is configured as an ergonomic surface that conforms to the surface contour of the alveolar bone.

9. A calibration method for a full-mouth dental implant robot calibration plate as claimed in any one of claims 1 to 8, characterized in that: include: Prefabricate an integral structure consisting of the positioning substrate, the connecting piece, and the fixing substrate; Install the seating substrate at the position of the alveolar bone model, and install the retention substrate on the alveolar bone model by passing the fixing pins through the fixing pin holes; The optical calibration plate is mounted on the fixed base plate through a detachable structure.

10. The calibration method of the calibration plate for a full-mouth dental implant robot according to claim 9, characterized in that: in, The relative positional relationship between the retaining pin hole on the retaining substrate and the positioning substrate satisfies the following conditions: The seating substrate forms a corresponding relationship with the fixing nail holes through the connecting piece, and the positioning position of each fixing nail hole does not interfere with the operation of the dental implant robot.

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