A calibration plate and calibration method for a full-mouth dental implant robot

Abstract

This invention discloses a calibration plate and calibration method for a full-mouth dental implant robot. The plate includes an optical calibration plate disposed outside the oral cavity, a retention plate connected to the optical calibration plate, radial markers on the retention plate, retention pin holes on the retention plate, and fixation pins disposed within the retention pin holes. A placement plate is connected to the retention plate via a connector. A cavity is formed between the placement plate, the connector, and the retention plate, surrounding the alveolar bone model in the operating area. This invention, by connecting the placement plate to the retention plate, fits the markers onto the alveolar bone surface. Utilizing a pre-defined positional relationship between the retention pin holes on the retention plate and the placement plate, when the placement plate is located on the alveolar bone model, the retention pin holes are precisely positioned in a preset location that will not interfere with the robot's operation. This avoids the interference of retention pins with the robot's preparation of implant sockets caused by arbitrarily fixing the markers.

Description

Technical Field

[0001] This invention relates to the field of dental implant technology, specifically to a calibration plate and calibration method for a full-mouth dental implant robot. Background Technology

[0002] In recent years, with the rapid development of medical robotics technology, dental implant robots have been applied in dental implant surgery. The application of robotic technology can effectively reduce the large deviations caused by free hand operation in complex surgeries, reduce the risk of damage to adjacent important anatomical structures, and at the same time, implant robot technology can significantly reduce the dependence of implant techniques on the doctor's experience, which is beneficial to help young implant surgeons perform complex dental implant surgeries.

[0003] Compared to conventional manual implantation techniques, dental implant robots require an external robotic arm to be aligned with a calibration plate installed inside the patient's mouth. This allows the robot system to unify its real coordinate system with the virtual coordinate system in the virtual surgical plan, thereby tracking and navigating the movement of the robotic arm to execute preset commands and complete operations such as implant cavity preparation and implant placement.

[0004] However, in practical applications, the calibration plate installed in the patient's mouth requires the patient to have remaining teeth or abundant alveolar bone to provide a safe and reliable retention condition for the calibration plate. Therefore, existing dental implant robot technology can only be used in cases of a few missing teeth or complete tooth loss but with relatively abundant alveolar bone morphology.

[0005] In edentulous patients with abundant alveolar bone, the preparation stage of the robot requires a large flap operation in the non-operation area, and then the landmark plate is fixed on the non-hand alveolar bone model with the help of holding pins or retention pins to achieve the fixation of the landmark plate.

[0006] However, in a few dental implant surgeries, such as the mandibular all-on-4 case, the alveolar bone in the non-operation area 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 to the relatively full alveolar bone in the operation area, the defects of the fixation method in the current technology will cause the fixation pin to interfere with the operation of the robotic arm in the operation area (mainly manifested as the fixation pin on the alveolar bone intruding into the alveolar bone to be operated on, thus interfering with the robotic arm). Ultimately, this type of case cannot be operated using implant robot technology. Summary of the Invention

[0007] The purpose of this 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 arbitrary and non-standard nature of the autonomous determination of the fixed position interferes with the robot's preparation of implant cavities and the placement of implants.

[0008] To solve the above-mentioned technical problems, the present invention specifically provides the following technical solution:

[0009] A calibration plate and calibration method for a full-mouth dental implant robot include an optical calibration plate, which is disposed outside the oral cavity and has tracking marks for robot registration.

[0010] A retention substrate is connected to the optical calibration plate. The retention substrate is provided with radioactive markers and retention pin holes. Fixing pins are disposed in the retention pin holes and are used to mount the retention substrate on one side of the alveolar bone model.

[0011] The positioning substrate is connected to the retention substrate through a connector to form an integral structure. An enclosing cavity is formed between the positioning substrate, the connector and the retention substrate. The enclosing cavity surrounds the periphery of the alveolar bone model and positions the retention pin hole at a predetermined position on the outside of the alveolar bone model.

[0012] As a preferred embodiment of the present invention, the connector can be cut to form a break between the positioning substrate and the fixing substrate, and the positioning substrate can be removed after the connector is cut to expose the operating area.

[0013] In a preferred embodiment of the present invention, the fixation substrate is connected to the optical calibration plate via a detachable structure.

[0014] As a preferred embodiment of the present invention, the detachable structure includes a clamping claw sleeve disposed on the fixed base plate and a fitting claw pin disposed on the optical calibration plate. Both the clamping claw sleeve and the fitting claw pin are provided with claw holes. The two sets of claw holes overlap when the fitting claw pin and the clamping claw sleeve are engaged. The overlapping claw holes form a fixed connection between the clamping claw sleeve and the fitting claw pin through the insertion of a square pin.

[0015] In a preferred embodiment of the present invention, the claw hole includes a circular hole and a plurality of strip holes communicating with the circular hole, the square pin includes a round pin and a strip pin connected to the round pin, the optical calibration plate rotates around the centerline axis of the circular hole in the clamping claw sleeve by the fitting 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 inserting into the strip hole.

[0016] In a preferred embodiment of the present invention, the positioning substrate has an L-shaped cross-section, wherein the short side of the L-shaped positioning substrate is attached to the inner surface of the alveolar bone, and the long side is attached to the top surface of the alveolar bone.

[0017] As a preferred embodiment of the present invention, the enclosing cavity is specifically a cavity with an opening at the bottom formed by the short side of the L-shaped positioning substrate, the long side of the L-shaped positioning substrate, the connecting member and the surface of the retaining substrate near the positioning substrate. The enclosing cavity is installed on the periphery of the alveolar bone model from top to bottom.

[0018] The surface of the retention substrate near the placement substrate is attached to the outer surface of the alveolar bone model.

[0019] As a preferred embodiment of the present invention, the surface of the enclosing cavity that anastomoses with the alveolar bone is configured as an ergonomic surface that conforms to the surface profile of the alveolar bone.

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

[0021] An integral structure is prefabricated and connected to the positioning substrate, the connector, and the fixing substrate;

[0022] The positioning substrate is installed at the position of the alveolar bone model, and the fixing substrate is installed on the alveolar bone model by passing the fixing pin through the fixing pin hole;

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

[0024] In a preferred embodiment of the present invention, the relative positional relationship between the retaining pin holes on the retaining substrate and the positioning substrate satisfies the following condition:

[0025] The positioning substrate corresponds to the fixing pin holes through the connector, and the positioning position of each fixing pin hole does not interfere with the operation of the dental implant robot.

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

[0027] This invention connects a positioning substrate to a retention substrate, and uses the inner surfaces of the retention substrate, the positioning substrate, and the connector to fit the marker onto the alveolar bone surface. By utilizing the preset positional relationship between the retention pin holes on the retention substrate and the positioning substrate, the retention pin holes are positioned precisely in a preset position that will not interfere with the robot's operation, thereby avoiding the situation where the retention pins interfere with the robot's preparation of implantation cavities due to arbitrarily fixing the marker. Attached Figure Description

[0028] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

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

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

[0031] The labels in the diagram represent the following:

[0032] 1. Optical calibration plate; 2. Tracking mark; 3. Fixing base plate; 4. Radial marker point; 5. Fixing pin hole; 6. Positioning base plate; 7. Connector; 8. Enclosing cavity; 9. Detachable structure; 10. Clamping claw sleeve; 11. Fitting claw pin; 12. Claw hole; 13. Square pin; 14. Circular hole; 15. Strip hole; 16. Round pin; 17. Strip pin. Detailed Implementation

[0033] 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.

[0034] like Figures 1 to 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 disposed outside the oral cavity, and a tracking mark 2 is provided on the optical calibration plate 1 for robot follow-up registration.

[0035] The retention base plate 3 is connected to the optical calibration plate 1. The retention base plate 3 is provided with radioactive markers 4 and retention pin holes 5. Fixing pins are provided in the retention pin holes 5 and are used to install the retention base plate 3 on one side of the alveolar bone model.

[0036] The positioning substrate 6 is connected to the retention substrate 3 through the connector 7 to form an integral structure. An enclosing cavity 8 is formed between the positioning substrate 6, the connector 7 and the retention substrate 3. The enclosing cavity 8 surrounds and is set on the periphery of the alveolar bone model to position the retention pin hole 5 at a preset position on the outside of the alveolar bone model.

[0037] This device relies on the positioning substrate 6 to be placed on the alveolar bone model, so that the retention substrate 3 passively fits the outer surface of the alveolar bone. Through the pre-designed relative position between the positioning substrate 6 and the retention screw hole 5, when the positioning substrate 6 is on the alveolar bone model, the position of the retention screw 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 miniature fixation screw during the operation.

[0038] Furthermore, the connector 7 can be cut to form a break in the connection between the positioning substrate 6 and the retaining substrate 3. After the connector 7 is cut, the positioning substrate 6 can be removed to expose the operating area.

[0039] After the positioning base plate 6 is installed on the alveolar bone model, the position of the retention pin hole 5 can be positioned in the preset location. At this time, an operating hole corresponding to the cavity can be opened on the positioning base plate 6 before the operation, so that the drill bit of the implant robot can pass through the hole to perform the implantation. However, in a further preferred embodiment, the connector 7 can be cut off, so that the positioning base plate 6 and the retention base plate 3 are disconnected, and then the positioning base plate 6 can be removed to expose a larger area of ​​the operating area.

[0040] In addition, the optical calibration plate 1 is connected to the fixed substrate 3 through a detachable structure 9, which can create a disconnect between the optical calibration plate 1 and the fixed substrate 3.

[0041] By incorporating a detachable structure 9, the optical calibration plate 1 can be prevented from colliding with the machine when the patient wears it for CT scans due to its excessive length. During CT scans, the optical calibration plate 1 can be removed via the detachable mechanism for CT imaging and planning.

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

[0043] like Figure 2 As shown, the optical calibration plate 1 and the retention base plate 3 are connected by the interlocking claw pin 11 and the clamping claw pin, which enables the rotation of the optical calibration plate 1 and achieves angle adjustment. That is, in the actual operation of the dental implant robot, 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 adjustable, so that when the robot arm operates in the oral cavity, it can be aligned with the tracking mark 2 on the optical calibration plate 1, and the angle can be followed in real time.

[0044] Furthermore, the claw hole 12 includes a circular hole 14 and a plurality of strip holes 15 communicating with the circular hole 14, and the square pin 13 includes a round pin 16 and a strip pin 17 connected to the round pin 16. The optical calibration plate 1 rotates around the centerline axis of the circular hole 14 within the clamping claw sleeve 10 by engaging the claw pin 11, thereby changing the setting angle of the optical calibration plate 1. The strip pin 17 fixes the position of the optical calibration plate 1 by inserting it into the strip hole 15. The angle of the optical calibration plate 1 is fixed by inserting the strip pin 17 on the square pin 13 into the strip hole 15.

[0045] The positioning substrate 6 has an L-shaped cross-section, with its short side attached to the inner surface of the alveolar bone and its long side attached to the top surface of the alveolar bone.

[0046] Specifically, the L-shaped positioning base plate 6 allows for better fit to the alveolar bone, adhering to the top and inner surfaces of the alveolar bone. Together with the connector 7 and the side of the retention base plate 3, it completely encloses the alveolar bone, resulting in better positioning. Simultaneously, the L-shaped positioning base plate 6 increases its contact area with the alveolar bone, and positioning the short side of the L-shape closer to the oral cavity enhances its connection with the alveolar bone. This ensures that when the optical calibration plate 1, located on the outer side of the oral cavity, collapses due to gravity after being mounted on the retention base plate 3, the short side of the L-shape and the main body of the positioning base plate 6 can restrain the optical calibration plate 1, allowing it to be stably mounted on the alveolar bone under the combined action of the positioning base plate 6, connector 7, retention base plate 3, and retention pin.

[0047] Furthermore, as shown in Figure 1, the enclosing cavity 8 is specifically a cavity with an opening at the bottom formed by the short side of the L-shaped positioning substrate 6, the long side of the L-shaped positioning substrate 6, the connector 7 and the surface of the retaining substrate 3 near the positioning substrate 6. The enclosing cavity 8 is installed on the periphery of the alveolar bone model from top to bottom.

[0048] The retaining substrate 3 is attached to the outer surface of the alveolar bone model on the side closest to the positioning substrate 6. Furthermore, the surface of the enclosing cavity 8 that matches the alveolar bone is designed to conform to the contour of the alveolar bone surface.

[0049] The inner surface of the enclosing cavity 8 is designed to perfectly match the contour of the alveolar bone surface, allowing it to be installed at a preset position on the alveolar bone surface, thus enabling the entire device to be precisely positioned on the alveolar bone.

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

[0051] An integral structure is prefabricated and connected to the positioning substrate, the connector, and the fixing substrate;

[0052] The positioning substrate is installed at the position of the alveolar bone model, and the fixing substrate is installed on the alveolar bone model by passing the fixing pin through the fixing pin hole;

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

[0054] In a preferred embodiment of the present invention, the relative positional relationship between the retaining pin holes on the retaining substrate and the positioning substrate satisfies the following condition:

[0055] The positioning substrate corresponds to the fixing pin holes through the connector, and the positioning position of each fixing pin hole does not interfere with the operation of the dental implant robot.

[0056] The above embodiments are merely exemplary embodiments of this application and are not intended to limit this application. The scope of protection of this application is defined by the claims. Those skilled in the art can make various modifications or equivalent substitutions to this application within its substance and scope of protection, and such modifications or equivalent substitutions should also be considered to fall within the scope of protection of this application.

Claims

1. A calibration plate for a full-arch dental implant robot, characterized by, include: An optical calibration plate (1) is disposed outside the oral cavity, and a tracking mark (2) is provided on the optical calibration plate (1) for robot follow-up registration. The retention substrate (3) is connected to the optical calibration plate (1). The retention substrate (3) is provided with a radioactive marker point (4). The retention substrate (3) is provided with a retention pin hole (5). A fixing pin is provided in the retention pin hole (5). The fixing pin is used to install the retention substrate (3) on one side of the alveolar bone model. The positioning substrate (6) is connected to the retention substrate (3) through the connector (7) to form an integral structure. An enclosing cavity (8) is formed between the positioning substrate (6), the connector (7) and the retention substrate (3). The enclosing cavity (8) surrounds the alveolar bone model and positions the retention pin hole (5) at a preset position on the outside of the alveolar bone model. The fixed substrate (3) is connected to the optical calibration plate (1) through a detachable structure (9); The detachable structure (9) includes a clamping claw sleeve (10) disposed on the fixed base plate (3) and a fitting claw pin (11) disposed on the optical calibration plate (1). Both the clamping claw sleeve (10) and the fitting claw pin (11) are provided with claw holes (12). The two sets of claw holes (12) overlap when the fitting claw pin (11) and the clamping claw sleeve (10) are engaged. The overlapping claw holes (12) form a fixed connection between the clamping claw sleeve (10) and the fitting claw pin (11) through the insertion of the square pin (13). The claw hole (12) includes a circular hole (14) and a plurality of strip holes (15) communicating with the circular hole (14). The square pin (13) includes a round pin (16) and a strip pin (17) connected to the round pin (16). The optical calibration plate (1) rotates around the centerline axis of the circular hole (14) in the clamping claw sleeve (10) through the interlocking claw pin (11) to change the setting angle of the optical calibration plate (1). The strip pin (17) fixes the position of the optical calibration plate (1) by inserting into the strip hole (15).

2. The calibration plate for a full-mouth dental implant robot according to claim 1, characterized in that, The connector (7) can be cut to form a disconnect between the positioning substrate (6) and the retaining substrate (3), and the positioning substrate (6) can be removed after the connector (7) is cut to expose the operating area.

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

4. The calibration plate for a full-mouth dental implant robot according to claim 3, characterized in that, The enclosing cavity (8) is specifically a cavity with an opening at the bottom formed by the short side of the L-shaped positioning substrate (6), the long side of the L-shaped positioning substrate (6), the connecting member (7) and the surface of the retaining substrate (3) near the positioning substrate (6). The enclosing cavity (8) is installed on the periphery of the alveolar bone model from top to bottom. The retaining substrate (3) is attached to the outer surface of the alveolar bone model on the side near the positioning substrate (6).

5. The calibration plate for a full-mouth dental implant robot according to claim 4, characterized in that, The surface of the enclosing cavity (8) that anastomoses with the alveolar bone is configured as an ergonomic surface that conforms to the surface profile of the alveolar bone.

6. A calibration method for a calibration plate for a full-mouth dental implant robot as described in any one of claims 1-5, characterized in that, include: An integral structure is prefabricated and connected to the positioning substrate, the connector, and the fixing substrate; The positioning substrate is installed at the position of the alveolar bone model, and the fixing substrate is installed on the alveolar bone model by passing the fixing pin through the fixing pin hole; The optical calibration plate is mounted on the fixed base plate via a detachable structure.

7. The calibration method for a calibration plate for a full-mouth dental implant robot according to claim 6, characterized in that, in, The relative positional relationship between the retention pin holes on the retention substrate and the placement substrate satisfies the following condition: The positioning substrate corresponds to the fixing pin holes through the connector, and the positioning position of each fixing pin hole does not interfere with the operation of the dental implant robot.

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