Gingival knife capable of being positioned by infrared vision system

Abstract

According to the gingival knife capable of being positioned by the infrared vision system, a marker capable of being positioned by the infrared vision system is arranged on a gingival knife handle, space registration of the gingival knife and an optical tracker can be completed, the incision position and range of the gingival knife can be recognized and tracked, and therefore surgical operation of clinicians is facilitated; the invention relates to an identification frame, which is used for preventing soft tissue from being processed in an expanded range so as to reduce wounds, and is characterized by comprising an outer sleeve handle which sleeves an embedded handle extending upwards from the neck part of a knife body, a working end flap turning part and a working end cutting part which sequentially extend downwards from the neck part of the knife body, and an identification frame main rod which extends upwards from the top surface of the outer sleeve handle, an identification frame snakelike curve belt is coiled on the identification frame main rod in a winding manner in a step-by-step unfolding manner from bottom to top and crossing boundaries left and right, at least five infrared visual identification points are distributed on the identification frame snakelike curve belt, and a triangle formed by any three infrared visual identification points is different from a triangle formed by any other three infrared visual identification points.

Description

Technical Field

[0001] The present invention relates to the technical field of oral surgery navigation, and particularly relates to a gingival knife that can be positioned by an infrared vision system. By having a marker that can be positioned by the infrared vision system on the gingival knife handle, the spatial registration of the gingival knife and the optical tracker can be completed, so as to identify and track the cutting position and range of the gingival knife, which is beneficial to the surgical operation of clinicians, avoids the treatment of soft tissues with an enlarged range, and thus reduces trauma. Background Art

[0002] Oral surgery generally includes periodontal surgery, implant surgery, periapical surgery, alveolar surgery, etc., aiming at the treatment of oral soft and hard tissues and dental tissues. With the progress of computer software, hardware, and computing power, navigation technology and robotic technology have gradually integrated artificial intelligence technologies such as computer vision technology, planning and decision-making systems, and big data statistical analysis, and are widely used in oral surgery. With the advantages of minimally invasive, accurate, and good repeatability, they have entered a stage of rapid development. Currently, the application of navigation technology and robotic technology in oral surgery mainly focuses on the treatment of bone and generally does not involve the treatment of soft tissues. During the operation, generally, a doctor needs to use a gingival knife to cut oral soft tissues such as the gingiva by hand based on experience without the precise positioning assistance of navigation, and then complete the bone-related treatment. Therefore, clinicians cannot accurately cut soft tissues at the designed position and usually need to expand the incision and flap range. Based on the accumulation of our own clinical experience in navigation and robotic surgery and the problems encountered in clinical practice, the inventor realized that by having a marker that can be recognized by an optical system on the gingival knife handle, the spatial registration of the gingival knife and the optical tracker can be completed to identify and track the cutting position and range of the gingival knife; it can be beneficial to the surgical operation of clinicians, avoid the treatment of soft tissues with an enlarged range, and thus reduce trauma. In view of this, the inventor completed the present invention. Summary of the Invention

[0003] Aiming at the defects or deficiencies in the prior art, the present invention provides a gingival knife that can be positioned by an infrared vision system. By having a marker that can be positioned by the infrared vision system on the gingival knife handle, the spatial registration of the gingival knife and the optical tracker can be completed, so as to identify and track the cutting position and range of the gingival knife, which is beneficial to the surgical operation of clinicians, avoids the treatment of soft tissues with an enlarged range, and thus reduces trauma.

[0004] The technical solution of the present invention is as follows:

[0005] A gingival knife that can be located by an infrared vision system, characterized in that it includes an outer sleeve handle that sleevingly holds an inner embedded handle extending upward from the neck of the knife body. The neck of the knife body extends downward in sequence to a working end flap portion and a working end cutting portion. The top surface of the outer sleeve handle extends upward to form a main rod of an identification frame. On the main rod of the identification frame, an identification frame serpentine curve band winds and coils in a step-by-step unfolding manner from bottom to top and exceeding the left and right boundaries. At least 5 infrared vision identification points are distributed on the identification frame serpentine curve band, and any triangle formed by any 3 of the 5 infrared vision identification points is different from any triangle formed by any other 3 infrared vision identification points.

[0006] Among the 5 infrared vision identification points, the first infrared vision identification point is located at the lower right position outside the right boundary of the main rod of the identification frame, the second infrared vision identification point is located at the middle left position outside the left boundary of the main rod of the identification frame, the third infrared vision identification point is located at the upper right position outside the right boundary of the main rod of the identification frame, the fourth infrared vision identification point is located at the axial top position of the main rod of the identification frame, and the fifth infrared vision identification point is located at the upper left position outside the left boundary of the main rod of the identification frame.

[0007] The first infrared vision identification point, the second infrared vision identification point, and the fourth infrared vision identification point are used to determine the actual spatial position of the tip of the gingival knife. The third infrared vision identification point and the fifth infrared vision identification point are used to determine the ideal spatial position and its orientation of the tip of the gingival knife in combination with the gingival surgery position.

[0008] The outer sleeve handle has a stop groove for restricting movement.

[0009] The connection method between the inner embedded handle and the outer sleeve handle is a plug-and-play type.

[0010] The neck of the knife body is connected to the working end flap portion at a 45-degree angle.

[0011] The outer diameter of the outer sleeve handle minus the outer diameter of the inner embedded handle is equal to 0.5 mm.

[0012] The infrared vision identification point includes an embedding hole, and the embedding hole is filled with an infrared radiation material.

[0013] The technical effects of the present invention are as follows: A gingival knife that can be positioned by an infrared vision system according to the present invention can be positioned by designing a landmark point on the instrument handle that can be recognized by infrared stereoscopic vision, and the cutting position and range of the gingival knife can be recognized and tracked, avoiding excessive cutting of soft tissues, thereby reducing trauma and increasing the precision of the surgery. In addition, the present invention adds a plug-in design for the gingival knife to the handle of the instrument, which has good operability and is convenient for clinical operation and surgical implementation. The present invention can be widely used in the field of oral navigation surgery, providing more accurate guidance for the surgery, having the advantages of high positioning accuracy and strong operation convenience, and can improve the accuracy of the surgery and reduce the risk coefficient of the surgery.

[0014] The features of the present invention are as follows: 1. The invention designs a landmark point on the handle of the instrument that can be recognized by infrared stereoscopic vision to recognize and track the cutting position and range of the gingival knife, avoiding excessive cutting of soft tissues, thereby reducing trauma. 2. The invention designs a plug-in design on the handle of the instrument, which is convenient for clinical operation and better completes the surgery. Description of the Drawings

[0015] Figure 1 is a schematic structural diagram of a gingival knife that can be positioned by an infrared vision system according to the present invention.

[0016] The description of the reference numerals in the drawings is as follows: 1 - working end cutting part; 2 - working end flap turning part; 3 - knife body neck; 4 - inner embedded handle; 5 - outer sleeve handle; 6 - main rod of the recognition frame; 7 - snake-shaped curve belt of the recognition frame; 8 - first infrared vision recognition point; 9 - second infrared vision recognition point; 10 - third infrared vision recognition point; 11 - fourth infrared vision recognition point; 12 - fifth infrared vision recognition point. Detailed Embodiment

[0017] The present invention will be described below in conjunction with the drawings ( Figure 1 ).

[0018] Figure 1 is a schematic structural diagram of a gingival knife that can be positioned by an infrared vision system according to the present invention. Referring to Figure 1 as shown, a gingival knife that can be positioned by an infrared vision system includes an outer sleeve handle 5, the outer sleeve handle 5 sleeving an inner embedded handle 4 extending upward from the knife body neck 3, the knife body neck 3 sequentially extending downward to form a working end flap turning part 2 and a working end cutting part 1, a main rod of the recognition frame 6 extending upward from the top surface of the outer sleeve handle 5, a snake-shaped curve belt of the recognition frame 7 coiling around the main rod of the recognition frame 6 in a gradually expanding manner from bottom to top and crossing the left and right boundaries, and at least 5 infrared vision recognition points are distributed on the snake-shaped curve belt of the recognition frame 7, and any triangle formed by any 3 of the 5 infrared vision recognition points is different from any triangle formed by any other 3 infrared vision recognition points.

[0019] Among the five infrared vision recognition points, the first infrared vision recognition point 8 is located at the lower right position outside the right boundary of the main rod 6 of the recognition frame, the second infrared vision recognition point 9 is located at the middle left position outside the left boundary of the main rod 6 of the recognition frame, the third infrared vision recognition point 10 is located at the upper right position outside the right boundary of the main rod 6 of the recognition frame, the fourth infrared vision recognition point 11 is located at the axial top position of the main rod 6 of the recognition frame, and the fifth infrared vision recognition point 12 is located at the upper left position outside the left boundary of the main rod 6 of the recognition frame. The first infrared vision recognition point 8, the second infrared vision recognition point 9, and the fourth infrared vision recognition point 11 are used to determine the actual spatial position of the tip of the gingival knife, and the third infrared vision recognition point 10 and the fifth infrared vision recognition point 12 are used to determine the ideal spatial position and its orientation of the tip of the gingival knife in combination with the gingival surgery position.

[0020] The outer sleeve handle 5 has a stop groove for restricting movement. The inner embedded handle 4 is connected to the outer sleeve handle 5 in a pluggable manner. The neck 3 of the tool body is connected to the flap portion 2 of the working end at an angle of 45 degrees. The outer diameter of the outer sleeve handle 5 minus the outer diameter of the inner embedded handle 4 is equal to 0.5 mm. The infrared vision recognition points include embedding holes (such as blind holes or through holes opened on the serpentine curve belt 7 of the recognition frame), and the embedding holes are filled with infrared radiation materials (such as lanthanum cerate infrared radiation ceramic materials co-doped with Ca and Fe, carbon nanotube microporous structure infrared radiation materials, etc.).

[0021] The present invention provides a gingival knife that can be positioned by an infrared vision system, including a detachable gingival knife, marking points that can be recognized by an infrared stereo vision, and the like.

[0022] A gingival knife that can be positioned by an infrared vision system includes a working end cutting portion (1); a working end flap portion (2); a tool body neck (3); an inner embedded handle (4); an outer sleeve handle (5); a main rod of the recognition frame (6); a serpentine curve belt of the recognition frame (7); a first infrared vision recognition point (8); a second infrared vision recognition point (9); a third infrared vision recognition point (10); a fourth infrared vision recognition point (11); a fifth infrared vision recognition point (12).

[0023] The working end is the cutting portion (1) for incising the gingiva;

[0024] The neck 3 of the tool body is used to connect the working end and the handle portion;

[0025] The outer sleeve handle (5) has a stop groove for restricting movement;

[0026] The first infrared vision recognition point (8), the second infrared vision recognition point (9), the third infrared vision recognition point (10), the fourth infrared vision recognition point (11), and the fifth infrared vision recognition point (12) are marked points on the handle that can be recognized by the infrared stereo vision.

[0027] The connection method between the embedded handle (4) and the outer handle (5) is a plug-in type.

[0028] On the recognition frame serpentine curve band (7), the first infrared vision recognition point (8), the second infrared vision recognition point (9), the third infrared vision recognition point (10), the fourth infrared vision recognition point (11), and the fifth infrared vision recognition point (12) can be recognized and positioned by the infrared stereo vision.

[0029] The connection between the neck of the tool body (3) and the flap part of the working end (2) forms a 45-degree angle.

[0030] The diameter difference between the outer handle (5) and the main rod of the recognition frame (6) is 0.5 mm.

[0031] A gingival knife that can be positioned by an infrared vision system according to the present invention is a surgical instrument for incising the gingiva in oral navigation or robotic surgery, which is made based on our own accumulation of clinical experience in navigation and robotic surgery and the problems encountered in clinical practice. By having marked points on the gingival knife handle that can be recognized by the optical system, the cutting position and range of the gingival knife can be recognized and tracked, which is beneficial to the surgical operation of clinicians, avoids the treatment of soft tissues with an enlarged range, thereby reducing trauma and better serving patients.

[0032] As Figure 1 As shown, a gingival knife that can be positioned by an infrared vision system according to the present invention includes a working end cutting part (1); a working end flap part (2); a neck of the tool body (3); an embedded handle (4); an outer handle (5); a main rod of the recognition frame (6); a serpentine curve band of the recognition frame (7); a first infrared vision recognition point (8); a second infrared vision recognition point (9); a third infrared vision recognition point (10); a fourth infrared vision recognition point (11); and a fifth infrared vision recognition point (12).

[0033] In this embodiment, the working end cutting part (1); the working end flap part (2); the neck of the tool body (3); the embedded handle (4); and the outer handle (5) form the main part of the gingival knife. The main rod of the recognition frame (6); the serpentine curve band of the recognition frame (7); the first infrared vision recognition point (8); the second infrared vision recognition point (9); the third infrared vision recognition point (10); the fourth infrared vision recognition point (11); and the fifth infrared vision recognition point (12) are within the target area and are tracked and detected by the optical system.

[0034] The process of positioning the gingival knife that can be positioned by the infrared vision system of the present invention is as follows:

[0035] First, the connecting handle is connected to the recognition frame with infrared vision recognition points in a plug-and-play manner. The diameter difference between the inner embedded handle and the outer sleeve handle is 0.5 mm, and the outer sleeve handle has a stop groove for restricting the movement and insertion depth.

[0036] Secondly, a first infrared vision recognition point (8), a second infrared vision recognition point (9), a third infrared vision recognition point (10), a fourth infrared vision recognition point (11), and a fifth infrared vision recognition point (12) are set on the snake-shaped curve belt (7) of the recognition frame. The infrared vision system recognizes the five infrared vision recognition points on the recognition frame of the gingival knife, and the spatial registration of the gingival knife and the optical tracker can be completed according to the coordinate system. When the gingival knife of the present invention is used for gingival incision, the incision position and range of the gingival knife can be recognized and tracked.

[0037] The gingival knife that can be positioned by the infrared vision system of the present invention uses a plug-and-play structure to connect the handle of the gingival knife and the recognition frame with infrared vision recognition points, restricts the movement and insertion depth of the handle, combines near-infrared tracking technology to measure the distance position and spatial pose of the scalpel, provides assistance for the accuracy of the operation, provides precise guidance for the specific cutting angle of the operation, effectively improves the accuracy, improves the accuracy of the operation, avoids the treatment of expanding the scope of soft tissues, makes the operation more minimally invasive, and thus reduces the trauma.

[0038] The content not described in detail in this specification belongs to the prior art well-known to those skilled in the art. It is hereby indicated that the above description helps those skilled in the art to understand the present invention, but does not limit the protection scope of the present invention. Any implementation that makes equivalent replacements, modifications and improvements, and / or simplifies the above description without departing from the essence of the present invention falls within the protection scope of the present invention.

Claims

1. A gum knife that can be positioned by an infrared vision system, characterized in that: The invention comprises a coat handle, wherein the coat handle covers an embedded handle extending upward from the neck of the knife body, wherein a working end flap portion and a working end cutting portion extend downward in sequence from the neck of the knife body, and an identification frame main rod extends upward from the top surface of the coat handle, and a serpentine curve belt of the identification frame is winding on the main rod of the identification frame in a gradually unfolding manner from bottom to top and across the boundary to the left and right, and at least 5 infrared visual recognition points are distributed on the serpentine curve belt of the identification frame, wherein a triangle formed by any 3 infrared visual recognition points among the 5 infrared visual recognition points is different from the triangle formed by any other 3 infrared visual recognition points.

2. The gingival knife that can be positioned by an infrared vision system according to claim 1, characterized in that: Among the five infrared visual recognition points, the first infrared visual recognition point is located at the lower right position outside the right boundary of the identification frame main rod, the second infrared visual recognition point is located at the middle left position outside the left boundary of the identification frame main rod, the third infrared visual recognition point is located at the upper right position outside the right boundary of the identification frame main rod, the fourth infrared visual recognition point is located at the axial top position of the identification frame main rod, and the fifth infrared visual recognition point is located at the upper left position outside the left boundary of the identification frame main rod.

3. The gingival knife that can be positioned by an infrared vision system according to claim 2, characterized in that: The first infrared visual recognition point, the second infrared visual recognition point and the fourth infrared visual recognition point are used to determine the actual spatial position of the tip of the gum knife, and the third infrared visual recognition point and the fifth infrared visual recognition point are used to determine the ideal spatial position and direction of the tip of the gum knife in combination with the gum surgery position.

4. The gingival knife that can be positioned by an infrared vision system according to claim 1, characterized in that: The outer cover handle has a stop groove for limiting the movement.

5. The gingival knife that can be positioned by an infrared vision system according to claim 1, characterized in that: The embedded handle and the outer cover handle are connected in a plug-in manner.

6. The gingival knife that can be positioned by an infrared vision system according to claim 1, characterized in that: The knife body neck is connected to the working end flap portion at an angle of 45 degrees.

7. The gingival knife that can be positioned by an infrared vision system according to claim 1, characterized in that: The outer diameter of the outer handle minus the outer diameter of the embedded handle is equal to 0.5 mm.

8. The gingival knife that can be positioned by an infrared vision system according to claim 1, characterized in that: The infrared visual recognition point includes an embedding hole, and the embedding hole is filled with infrared radiation material.

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