Segmented navigation method and system capable of being used for remote operation

Abstract

The invention relates to the technical field of orthodontics, in particular to a segmented navigation method and system capable of being used for remote operation, and the method comprises the following steps: setting a first reference mark and a second reference mark on a mouth gag; defining a first space coordinate system by using an optical positioning camera, wherein the first space coordinate system is used for defining first coordinates of the first reference mark and the second reference mark; providing a target model which defines the relative position between the reference mark and the target point or tooth through a second spatial coordinate system; correspondingly converting the first coordinate to obtain a first measurement coordinate of the target point or the tooth in the first space coordinate system; determining a first navigation point according to the first measurement coordinate; when the robot moves to a first navigation point, second coordinates of the first reference mark and the second reference mark in the first space coordinate system are obtained; and when a first difference value between the first coordinate and the second coordinate is smaller than a set first difference value threshold value, allowing the robot to continuously move to the first measurement coordinate. The invention solves the problem that the existing navigation method has high performance requirements on hardware equipment.

Description

[0001] Divisional application This application is a divisional application of the patent application

Application No.: CN202411338414.5

Title of Invention: An Orthodontic Robot Navigation Method and System

[0002] The present invention relates to an orthodontic robot, and in particular to a segmented navigation method and system that can be used for remote operation. Background art

[0003] Defects such as malocclusion of teeth not only affect appearance, but also have an irresistible impact on chewing, pronunciation, etc., seriously reducing the quality of life of patients.

[0004] Orthodontics is aimed at tooth malocclusion. By applying mechanical corrective forces and torques to teeth using orthodontic appliances, the balance and coordination among facial bones, teeth, and maxillofacial muscles are adjusted. After a period of orthodontic treatment, the facial shape can be improved, the dental arch can be aligned, and the chewing efficiency can be increased.

[0005] In traditional orthodontic clinical operations, especially in bracket bonding operations, they are mainly completed manually by orthodontists, which requires relatively high doctor experience and manual operation fineness. Moreover, the human operation error is large and the operation techniques vary greatly, resulting in problems such as high technical thresholds and irregular treatments in orthodontic clinical treatments. Clinically, to improve the accuracy of bracket bonding, an indirect bonding method is proposed, that is, designing a bonding guide plate to assist in the transfer of bracket positions. However, under this auxiliary method, extremely high requirements are still placed on the manual operation force and accuracy of doctors.

[0006] Patent application CN116737031A discloses a root information visualization system and method based on mixed reality. The system includes a tracking rigid body 1, a tracking rigid body 2, a probe, an optical tracking device, a mixed reality glasses, a checkerboard calibration board, an orthodontic anchorage screw implantation navigation system, and a visualization system; the method includes an optical tracking device - mixed reality glasses calibration method and a complete dentition virtual model - patient real space registration method; the optical tracking device - mixed reality glasses calibration method is used to unify the internal coordinate systems of the optical tracking device and the mixed reality glasses; the complete dentition virtual model - patient real space registration method is used to unify the coordinate system of the complete dentition virtual model and the real space where the patient is located.

[0007] Patent application CN112545650A discloses a navigation and positioning method and system for dentistry. By adhering imaging balls to a dental retainer, the dental retainer is sleeved on the target dentition of a patient. The hard and soft tissue data of the target dentition and the oral maxilla at the target dentition are obtained by scanning. A corresponding three-dimensional model of the target dentition reference space with imaging points is established in the three-dimensional navigation map of the navigation system. Before the operation, the target dentition is matched with the three-dimensional model of the reference space by clicking the imaging balls with surgical instruments to complete the reference positioning of the target dentition. During the operation, the positioning rod set in the oral cavity, through the first vision and the second vision set on the surgical instrument, obtains the position and posture of the target dentition in the oral cavity in real time, and obtains the position and posture of the surgical instrument, and marks the spatial position in the three-dimensional coordinate system of the three-dimensional model of the reference space, so as to realize the real-time tracking and positioning of the positional relationship between the surgical instrument and the target dentition during the operation.

[0008] Patent application CN101249001A also discloses an orthodontic implant anchorage three-dimensional imaging navigation and positioning method and a dedicated device. It uses an infrared camera lens to emit or receive infrared rays, determines the specific position of the device by tracking the position of the infrared reflection ball on the self-designed orthodontic implant anchorage positioning device, and transmits the signal back to the computer to display the position of the positioning device on the preoperative or intraoperative imaging data of the patient. By comparing with the three-dimensional spatial orientation of the positioning device determined before the operation through software, the orientation of the positioning device is adjusted by the connected robotic arm to meet the requirements of the preoperative design. When the designed position is reached, the implant anchorage can be accurately implanted according to the orientation and depth guided by the stereotactic device.

[0009] However, traditional surgical robots have high performance requirements for hardware devices, which is not conducive to practical applications. Summary of the Invention

[0010] The purpose of the present invention is to provide a navigation method for an orthodontic robot, which partially solves or alleviates the above deficiencies in the prior art, and can reduce the computing pressure of real-time navigation through a segmented navigation method.

[0011] To solve the above-mentioned technical problems, the present invention specifically adopts the following technical solutions: In the first aspect of the present invention, it provides a navigation method for an orthodontic robot, including the steps: S100, setting reference marks, the reference marks comprising: a first reference mark set at at least one first target position on the mouth opener, and a second reference mark set at at least one other first target position on the mouth opener, the mouth opener being worn in the oral cavity of the subject to open and fix the oral cavity; wherein the first target position comprises one or more of the following: a position on the mouth opener corresponding to a lip bead, a lip peak, a lip vermilion, and a midline of a dentition; S101, defining a first spatial coordinate system using an optical positioning camera, where the first spatial coordinate system is used to define first coordinates of the first reference mark and the second reference mark; S102, providing a preset target model for simulating the oral cavity and the mouth opener, wherein the target model defines a relative position between at least one reference mark and a target point or a tooth through a second spatial coordinate system; the target point is a position where the orthodontic robot is located when installing a bracket on the tooth; S103, registering the first spatial coordinate system and the second spatial coordinate system using a coordinate system registration algorithm, and obtaining a first measurement coordinate of the target point or the tooth in the first spatial coordinate system through a corresponding transformation of the first coordinate; S104 determines a first navigation point according to the first measurement coordinates, the orthodontic robot moves to the first navigation point at a first speed, and a first distance between the first navigation point and the first measurement coordinates is greater than a set first threshold; S105: when the orthodontic robot moves to the first navigation point, obtaining the second coordinates of the first reference mark and the second reference mark in the first space coordinates at a second moment; S106 calculates at least one first difference between the first coordinate and the second coordinate; S107 determines whether the first difference is less than a set first difference threshold, and if so, allows the orthodontic robot to continue moving from the first navigation point to the first measurement coordinate.

[0012] In some embodiments, before step S103, the method further includes: Acquire a first image of the oral cavity and the mouth opener at the first shooting angle at the first moment; wherein the first image displays a second target position; the second target position includes one or more of the following: lip bead, lip peak, lip vermilion, incisor, canine, premolar, molar; Acquire a second image of the target model at the first shooting angle; Calculate a first target interval D1 between the first target position and the second target position in the first image, and calculate a second target interval D2 between the corresponding first target position and the second target position in the second image; Calculate a first difference ratio X1 between the first target interval D1 and the second target interval D2; wherein, X1 = |D1 - D2| / D1; or, X1 = |D1 - D2| / D2; Determine whether the first difference ratio X1 is less than a preset second difference threshold; If so, allow the execution of S103; if not, send a first misalignment prompt signal to the user.

[0013] In some embodiments, before the step of S102, it further includes: Collect multiple photos of the subject wearing the mouth opener, the photos including: at least one reference mark and at least one tooth, and there is an overlapping part between any two of the multiple photos; Create a corresponding target model according to the multiple photos, the target model being used to describe the positional relationship between the mouth opener and the teeth in the second space coordinate system; Determine the spatial coordinates of the orthodontic robot moving to the final target point in the second space coordinate system through the target model.

[0014] In some embodiments, the photos are CT scan photos or standard orthodontic intraoral images.

[0015] In some embodiments, a grasping mechanism is provided at the end of the orthodontic robot, the grasping mechanism being used to grasp at least one bracket.

[0016] In some embodiments, a micro camera is further provided near the end of the orthodontic robot.

[0017] In some embodiments, the step of continuing to move from the first navigation point to the first measurement coordinate includes: Determine a second navigation point, the distance between the second navigation point and the target point being less than a second threshold; When the orthodontic robot moves to the second navigation point at a second speed, obtain a third image of the oral cavity at a second shooting angle through the micro camera provided at the position near the end of the orthodontic robot; Obtain a fourth image of the target model at the second shooting angle; Calculate a third target interval D3 between the first target position and the second target position in the third image, and calculate a fourth target interval D4 between the corresponding first target position and the second target position in the fourth image; Calculate a second difference ratio X2 between the third target interval D3 and the fourth target interval D4; Wherein, X2 = |D3 - D4| / D3; or X2 = |D3 - D4| / D4; Determine whether the second difference ratio X2 is less than a preset third difference threshold; If not, send a second misalignment prompt signal to the user.

[0018] In some embodiments, before step S105, it further includes: Determine whether there are at least two reference marks that are not occluded; If so, execute step S105; If not, then execute the following steps: Obtain a fifth image of the unoccluded reference marks and the teeth at a third shooting angle; Obtain a sixth image of the target model at the third shooting angle; Calculate a fifth target interval D5 between the first target position and the second target position in the fifth image, and calculate a sixth target interval D6 between the corresponding first target position and the second target position in the sixth image; Calculate a third difference ratio X3 between the fifth target interval D5 and the sixth target interval D6; Wherein, X3 = |D5 - D6| / D5; or X3 = |D5 - D6| / D6; Determine whether the third difference ratio X3 is less than a set fourth difference threshold. If so, allow the orthodontic robot to continue moving from the first navigation point to the first measurement coordinate.

[0019] In some embodiments, the reference mark is an optical mark.

[0020] The present invention also provides a navigation system for an orthodontic robot, including: A first positioning module is used to define a first spatial coordinate system using an optical positioning camera, wherein the first spatial coordinate system is used to define the first coordinates of a current first reference mark and a second reference mark; the first reference mark is set at at least one first target position on the mouth opener, and the second reference mark is set at at least one second target position on the mouth opener; the mouth opener is worn in the mouth of the subject to open and fix the mouth; wherein the first target position includes one or more of the following: positions on the mouth opener corresponding to a lip bead, a lip peak, a lip vermilion, and a midline of a dentition; A second positioning module is used to provide a preset target model for simulating the oral cavity and the mouth opener, wherein the target model defines a relative position between at least one reference mark and a target point or a tooth through a second spatial coordinate system; the target point is the position of the orthodontic robot when installing the bracket on the tooth; A third positioning module, configured to register the first spatial coordinate system and the second spatial coordinate system by using a coordinate system registration algorithm, and obtain a first measurement coordinate of the target point or the tooth in the first spatial coordinate system by corresponding transformation of the first coordinate; A first navigation point calculation module, used for determining a first navigation point according to the first measurement coordinates, the orthodontic robot moves to the first navigation point at a first speed, and a first distance between the first navigation point and the first measurement coordinates is greater than a set first threshold; a fourth positioning module, configured to obtain, when the orthodontic robot moves to the first navigation point, second coordinates of the first reference mark and the second reference mark in the first space coordinate at a second moment; A first difference calculation module, used for calculating at least one first difference between the first coordinate and the second coordinate; The first navigation judgment module is used to judge whether the first difference is less than a set first difference threshold. If so, the orthodontic robot is allowed to continue moving from the first navigation point to the first measurement coordinate.

[0021] Beneficial technical effects: The present invention provides a segmented navigation method based on finite optical markers. This segmented navigation method based on finite optical markers can reduce the real-time computing pressure of robot navigation during orthodontic process to a certain extent, thereby reducing the application cost of robot equipment.

[0022] Specifically, the segmented navigation of the present invention can be combined with the remote operation of doctors: By selecting the first and second navigation points and performing segmented navigation, the robot can be quickly positioned and navigated to the operable area (when the robot moves to the operable area, the robot can complete the positioning and installation of the bracket only through a small displacement). The subsequent precise positioning and installation are completed by the doctor manually controlling the robot coordinates, thereby reducing the manual operation workload of the doctor.

[0023] For remote areas with relatively scarce medical resources, it is difficult to bear the economic cost of configuring high-precision medical equipment. And a semi-automatic operation robot implemented based on segmented navigation provided by the present invention can effectively reduce the computing pressure of the robot's automatic navigation, thereby reducing the requirements of the robot for hardware performance and reducing the implementation cost.

[0024] When the robot is connected to the computer system, the doctor can perform remote orthodontic operations with the help of the robot. For example, when the patient has a severe malocclusion defect and needs to invite doctors from other places for assistance, or when the doctor fails to arrive at the orthodontic site for some reason, the orthodontic operation can be completed by controlling the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to actual scale. Obviously, the following-described drawings are some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0026] Figure 1 Schematic diagram of the navigation path in an exemplary embodiment of the present invention; Figure 2 Schematic diagram of the operation state of the robot in an exemplary embodiment of the present invention; Figure 3 Schematic diagram of the structure of the equipment table in an exemplary embodiment of the present invention; Figure 4 Schematic diagram of the structure of the mouth opener in an exemplary embodiment of the present invention; Figure 5 Schematic diagram of the structure of the bracket in an exemplary embodiment of the present invention; Figure 6 Schematic diagram of the flow steps of the robot navigation method in an exemplary embodiment of the present invention; Figure 7 Schematic diagram of the method flow for batch installation of brackets in another embodiment of the present invention.

[0027] Summary of Reference Numeral Identification: 001 is the equipment table, 002 is the bracket, 003 is the mouth gag, 004 is the robot, 005 is the reference mark, O1 is the initial point, O2 is the first navigation point, and O3 is the target point. Detailed Implementation Manner

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0029] In this article, suffixes such as "module", "component", or "unit" used to represent elements are only for the convenience of describing the present invention and have no specific meaning in themselves. Therefore, "module", "component", or "unit" can be used interchangeably.

[0030] In this article, terms such as "upper", "lower", "inner", "outer", "front", "rear", "one end", "the other end", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0031] In this article, unless otherwise clearly specified and defined, terms such as "installed", "provided with", "connected", etc. shall be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium, and can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] In this article, "and / or" includes any and all combinations of one or more of the listed related items.

[0033] In this article, "a plurality of" means two or more, that is, it includes two, three, four, five, etc.

[0034] It should be noted that, in this text, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising that element.

[0035] As used in this specification, the term "about" typically means + / - 5% of the stated value, more typically + / - 4% of the stated value, more typically + / - 3% of the stated value, more typically + / - 2% of the stated value, even more typically + / - 1% of the stated value, and even more typically + / - 0.5% of the stated value.

[0036] In this specification, certain embodiments may be disclosed in a format that is within a certain range. It should be understood that such a description of "within a certain range" is merely for convenience and brevity and should not be construed as a rigid limitation on the disclosed range. Therefore, the description of a range should be considered to have specifically disclosed all possible sub-ranges and the individual numerical values within that range. For example, the description of the range 1 - 6 should be considered to have specifically disclosed sub-ranges such as from 1 to 3, from 1 to 4, from 1 to 5, from 2 to 4, from 2 to 6, from 3 to 6, etc., as well as the individual numbers within that range, such as 1, 2, 3, 4, 5, and 6. This rule applies regardless of the breadth of the range.

[0037] In this text, the mouth opener is also called the mouth gag. When a patient wears the mouth opener, it can keep the mouth open. For example, the mouth opener body can be in a "U" shape, and a handle is fixedly connected to each of the two end portions of the mouth opener body. The mouth opener body is elastic, and the two side arms of the mouth opener body can bend towards the inside or outside of the mouth opener body when pressed by an external pressure, and when the external pressure disappears, the two side arms of the mouth opener body return to their original positions.

[0038] In this text, the "optical positioning camera" can use visible light and computer vision to detect passive marker targets (i.e., reference markers) and track these targets by processing standard video images.

[0039] In this article, "coordinate system registration" refers to the process of converting the coordinates of one spatial reference system into another spatial reference system. For example, in order to improve orthodontic efficiency, before the robot performs the bracket installation task, the oral area of ​​the object (i.e., the patient) can be 3D modeled to create a target model, where the target model will define the relative position relationship between the mouth opener (especially the reference mark) and the teeth (or the target point to which the robot needs to run) through the second spatial coordinate system. Furthermore, when it is necessary to perform actual orthodontic operations on the object, a first spatial coordinate system can be created based on the current environment, and the coordinates I of at least one reference mark (such as at least three reference marks) in the first spatial coordinate system can be obtained through an optical positioning camera. With the help of the relative position relationship in the second spatial coordinate system, the coordinates II of the teeth (or target point) in the first spatial coordinate system can be indirectly calculated through the coordinates I. This process is also called coordinate system registration.

[0040] In this article, "image positioning" refers to the process of obtaining image data through an image acquisition device (such as a camera), preprocessing the image data, including denoising, enhancement, and segmentation, extracting image feature information such as color, texture, shape, etc., and then using a specific positioning algorithm to match and locate the image features to determine the location of the target. For example, image positioning can be achieved through deep learning technology.

[0041] Embodiment 1 See also Figure 6 As shown, the present invention provides a navigation method for an orthodontic robot, which comprises the steps of: S100, setting reference marks, the reference marks comprising: a first reference mark set at at least one first target position on the mouth opener, and a second reference mark set at at least another first target position on the mouth opener, the mouth opener 003 being worn in the oral cavity of the subject to open and fix the oral cavity; For example, in some embodiments, the first target position includes one or more of the following: a position on the mouth opener corresponding to a lip bead, a lip peak, a lip vermilion, a midline of a dentition (such as a gap between adjacent incisors); Preferably, the reference marking is an optical marking.

[0042] Preferably, the optical marker can be a marker ball with an infrared sensitive coating or a visible light marker target.

[0043] Preferably, the optical mark can be set as an indicator graphic such as a triangle or a straight line to assist the user in adjusting the wearing position of the mouth opener.

[0044] S101. Define a first spatial coordinate system W1 using an optical positioning camera. The first spatial coordinate system W1 is used to define the first coordinates A1 of the current first reference mark and the second reference mark. For example, when a patient wears a mouth gag and lies on a dental chair, the optical positioning camera can identify the actual coordinates of the reference marks.

[0045] S102. Provide a preset target model for simulating the oral cavity and the mouth gag. The target model defines the relative positions between at least one reference mark and a target point or a tooth through a second spatial coordinate system W2. The target point is the position where the orthodontic robot installs a bracket on the tooth. S103. Register the first spatial coordinate system W1 and the second spatial coordinate system W2 using a coordinate registration algorithm, and correspondingly convert the first coordinates A1 to obtain the first measurement coordinates B1 of the target point or the tooth in the first spatial coordinate system. That is to say, the position of the target point or the tooth in the first spatial coordinate system, namely the first measurement coordinates B1, can be indirectly measured through the actual coordinates of the reference marks. In some embodiments, the optical positioning camera can be a binocular vision optical positioning camera.

[0046] For example, in some embodiments, the total number of the first reference mark and the second reference mark in S101 is at least three. Or, to improve the registration accuracy, more reference marks can also be used.

[0047] S104. Determine a first navigation point according to the first measurement coordinates. The orthodontic robot moves to the first navigation point at a first speed. The first distance between the first navigation point and the first measurement coordinates is greater than a set first threshold. S105. When the orthodontic robot moves to the first navigation point, obtain the second coordinates of the first reference mark and the second reference mark in the first spatial coordinate at the second moment. S106. Calculate at least one first difference between the first coordinates and the second coordinates. S107. Determine whether the first difference is less than a set first difference threshold. If so, allow the orthodontic robot to continue moving from the first navigation point to the first measurement coordinates.

[0048] In this embodiment, the first difference refers to the distance between the positions of the reference mark 005 at the first moment and the second moment.

[0049] For example, in some embodiments, at least one first difference can be calculated based on at least one first reference mark, and at least one second difference can be calculated based on at least one second reference mark. When multiple first differences are all less than the first difference threshold, it is considered that the position offset of the mouth opener at the first and second moments is within the tolerable range. At this time, the movement can continue as planned from the first navigation point to the next desired position (such as at the first measurement coordinate).

[0050] In this embodiment, preferably, a plurality of reference marks are provided on the mouth opener, which helps the doctor to judge the wearing position of the mouth opener, so that the position of the mouth opener during orthodontic treatment is the same as (or has a relatively small deviation from) the position of the mouth opener in the target model, and further enables the robot to indirectly locate the teeth or target points through the target model during the actual navigation process.

[0051] In some embodiments, the first speed is greater than the second speed.

[0052] This embodiment actually provides a segmented navigation method.

[0053] It should be noted that during orthodontic treatment, brackets need to be pasted on multiple teeth of the patient. During this long pasting process, the patient's oral cavity may continuously shift due to head movement. Moreover, to ensure the orthodontic effect, the brackets need to be accurately installed in specific areas on the teeth. If there is a deviation in the position, the bracket installation will fail. Therefore, this will pose higher requirements on the real-time navigation ability of the robot.

[0054] In response to this, the traditional orthodontic robot navigation idea is: collect the real-time facial skin point cloud data of the patient, and calculate the navigation path of the robot through the real-time facial skin point cloud data. However, the applicant has found that when this method of real-time collecting and calculating point cloud data is applied to scenarios with a large degree of target mobility (for example, especially when the patient is a child, it is very difficult for them to maintain a relatively fixed posture for a long time), the difficulty of data collection and monitoring will increase significantly.

[0055] On the contrary, for this orthodontic operation scenario where the patient has a high degree of freedom (i.e., the head may move at any time), the present invention provides a segmented navigation method based on limited optical markers. This segmented navigation method based on limited optical markers can, to a certain extent, reduce the real-time operation pressure of robot navigation during orthodontics, and thus reduce the application cost of the robot device.

[0056] For example, see Figures 1 - 5 As shown, the working process of the orthodontic robot is as follows: The robot 004 needs to grasp the bracket 002 from the equipment table 001, and then move from the initial point O1 to the target point O3 to complete the automatic installation of the bracket. Specifically, when moving from the initial point O1 (i.e., the current position of the orthodontic robot) to the target point O3 (i.e., the position where the robot needs to move to paste the bracket), a first navigation point O2 can be first created at the first moment T1, and by setting the first navigation point O2, the long-distance path formed by the initial point O1 and the target point O3 is divided into a first path and a second path. Further, during the process of moving to the first navigation point O2 through the first path, a relatively fast speed can be adopted, and when moving to the first navigation point O2, it can be further determined whether there is a large deviation between the position of the optical mark at the current moment (i.e., the second moment T2) and the position at the first moment T1 (i.e., to judge the degree of the patient's head movement at this stage). When the position deviation between the two moments is small, the robot can move above the teeth at a relatively slow speed under camera positioning, and then complete the installation of the bracket.

[0057] In some embodiments, before step S103, it further includes: Obtaining a first image of the oral cavity and the mouth opener at the first shooting angle at the first moment; wherein, the first image shows a second target position; the second target position includes one or more of the following: the philtrum, the cupid's bow, the vermilion border, the incisors, the canines, the premolars, the molars. Further, the second target position can be the center points of the incisors, canines, premolars, and molars.

[0058] Obtaining a second image of the target model at the first shooting angle; Calculating a first target interval D1 between the first target position and the second target position in the first image, and calculating a second target interval D2 between the corresponding first target position and the second target position in the second image; Calculating a first difference ratio X1 between the first target interval D1 and the second target interval D2; wherein, X1 = |D1 - D2| / D1; or, X1 = |D1 - D2| / D2; Judging whether the first difference ratio X1 is less than a preset second difference threshold; If so, allowing the execution of S103; if not, sending a first misalignment prompt signal to the user.

[0059] For example, when the user receives the first misalignment prompt signal, the doctor can manually adjust the wearing position of the patient's mouth opener to make the wearing position of the mouth opener close to the set position in the target model.

[0060] For example, in some embodiments, at least two shooting angles may be selected to respectively obtain at least two first images and at least two second images. And when at least two first difference ratios of at least two groups of images are both less than the second difference threshold, it is considered that the wearing position of the mouth opener is within the fault-tolerant range, and the coordinate registration operation is allowed to be performed.

[0061] For example, in some embodiments, a user may set specific shooting angles by themselves, such as the front view, side view, and so on.

[0062] For another example, in some embodiments, the shooting angle may be randomly selected by a camera (such as an optical positioning camera or other shooting devices connected to the robot). At this time, the specific shooting angle can also be calculated according to the position of the camera (specifically, the spatial coordinates and attitude angles of the camera can be obtained) and the position of the optical marker. Correspondingly, according to the shooting angle determined by the camera itself, an image of the target model at the same angle can be output.

[0063] In some embodiments, before step S102, it further includes: Collecting multiple photos of the object wearing the mouth opener, the photos including: at least one reference mark and at least one tooth, and there is an overlapping part between any two of the multiple photos; Creating a corresponding target model according to the multiple photos, the target model being used to describe the positional relationship between the mouth opener and the teeth in the second space coordinate system; Determining the spatial coordinates of the orthodontic robot moving to the final target point in the second space coordinate system through the target model.

[0064] For example, in some embodiments, after the target model is created, the doctor can manually set the final target point.

[0065] In some embodiments, the photo is a CT scan photo.

[0066] In some embodiments, the photo is a standard orthodontic intraoral image. For example, the standard orthodontic intraoral image includes one or more of the following: front view, side view, 45° side view, front smile view, side smile view, 45° side smile view, right intraoral view, front intraoral view, left intraoral view, upper occlusal view, lower occlusal view, overbite and overjet view. In some embodiments, a grasping mechanism is provided at the end of the orthodontic robot, and the grasping mechanism is used to grasp at least one bracket.

[0067] In some embodiments, a micro camera is further provided near the end of the orthodontic robot, which can be used to take images of the oral cavity.

[0068] In some embodiments, the step of continuing to move from the first navigation point to the first measurement coordinate (in this embodiment, the first measurement coordinate may refer to the coordinate of the target point O3) includes: Determine a second navigation point, the distance between the second navigation point and the target point being less than a second threshold; When the orthodontic robot moves to the second navigation point, obtain a third image of the oral cavity at a second shooting angle through a micro camera disposed at a position adjacent to the end of the orthodontic robot; Obtain a fourth image of the target model at the second shooting angle; Calculate a third target interval D3 between the first target position and the second target position in the third image, and calculate a fourth target interval D4 between the corresponding first target position and the second target position in the fourth image; Calculate a first difference ratio X2 between the third target interval D3 and the second target interval D4; Wherein, X2 = |D3 - D4| / D3; or X2 = |D3 - D4| / D4; Judge whether the second difference ratio X2 is less than a preset third difference threshold; If not, send a second misalignment prompt signal to the user; If so, allow the robot to continue moving closer to the target position.

[0069] For example, in the process of the robot moving to the first navigation point and the second navigation point, both can be set as an automatic navigation process, and when the robot moves to the second navigation point, the user (such as a doctor) can intervene manually to fine-tune the end position of the robot.

[0070] For example, in some embodiments, when the robot moves to the second navigation point, due to reasons such as the movement of the patient, there may be a certain deviation between the current position of the robot and the expected position. At this time, by calculating the deviation between the actual observed image and the expected observed image (i.e., the third and fourth images), if the deviation is within an acceptable range, the robot can continue to run freely. On the contrary, if the deviation is relatively large, the doctor can manually adjust the movement parameters of the robot by observing the real-time image (such as obtained through the micro camera), and then fine-tune the end position of the robot.

[0071] For example, in some embodiments, to save costs, a combined solution of automatic navigation and manual navigation can be adopted. Therefore, the process of the robot actively grasping the bracket from the equipment table and moving from the equipment table to the first navigation point can be automatically completed by the robot (reducing the manual operation amount of the doctor). However, when the robot continues to move from the first navigation point to the second navigation point or fine-tunes its position at the second navigation point, manual adjustment can be introduced when the computer determines that the deviation is large. Especially when the doctor and the patient are in different regions, adopting this segmented navigation solution is beneficial for realizing remote orthodontic operation.

[0072] In the present invention, through the selection of the first and second navigation points and segmented navigation, the robot can be quickly positioned and navigated to the operable area (when the robot moves to the operable area, the robot can complete the positioning and installation of the bracket with only a small displacement amount), thereby reducing the manual operation workload of the doctor.

[0073] It should be noted that for remote areas with relatively scarce medical resources, it is difficult to bear the economic cost of configuring high-precision medical equipment. However, the semi-automatic operation robot based on segmented navigation provided by the present invention can effectively reduce the computing pressure of the robot's automatic navigation, thereby reducing the requirements of the robot for hardware performance and reducing the implementation cost.

[0074] That is to say, this semi-automatic operation robot based on segmented navigation helps to promote the application of automated medicine in remote areas.

[0075] Moreover, when the robot is connected to the computer system, the doctor can also perform remote orthodontic operations with the help of the robot. For example, when the patient's malocclusion defect is relatively serious and assistance from out-of-town doctors is needed, or when the doctor fails to arrive at the orthodontic site due to some reasons, the orthodontic operation can be completed by controlling the robot.

[0076] For example, the robot can complete the processes of obtaining the bracket from the equipment table and moving from the equipment table to the first navigation point automatically. Subsequently, when the robot automatically moves to the operable area, the doctor manually intervenes.

[0077] Of course, in some embodiments, the fine-tuning at the second navigation point can also be automatically completed by image positioning technology. Specifically, for the movement process from the first navigation point to the target point, real-time image navigation can also be adopted.

[0078] For example, by collecting photos of teeth, high-precision positioning calculation of the teeth is performed, and then high-precision fine-tuning is carried out between the second navigation point and the target point to achieve automatic installation of brackets. And because the previous segmented navigation (equivalent to preliminary navigation) can effectively reduce the pressure of high-precision navigation, the overall computational resources consumed by this segmented navigation scheme are also relatively small, which is conducive to implementation.

[0079] In some embodiments, the optical positioning camera can be set on the robot, such as being installed on the robotic arm of the robot.

[0080] Or, in some other embodiments, the optical positioning camera can be independently set with the robotic arm, thereby reducing the load of the robotic arm, which helps to improve the positioning accuracy of the robotic arm. And, in order to avoid the robotic arm blocking the light or the oral cavity during movement, in some embodiments, before step S105, it further includes: Determine whether there are at least two reference marks that are not blocked; If so, execute step S105; If not, then execute the following steps: Obtain the fifth image of the unblocked reference mark and the target tooth at the third shooting angle; Obtain the sixth image of the target model at the third shooting angle; Calculate the fifth target interval D5 between the first target position and the second target position in the fifth image, and calculate the sixth target interval D6 between the corresponding first target position and the second target position in the sixth image; Calculate the third difference ratio X3 between the fifth target interval D5 and the sixth target interval D6; where, X3 = |D5 - D6| / D5; or X3 = |D5 - D6| / D6; Determine whether the third difference ratio X3 is less than the set fourth difference threshold. If so, allow the orthodontic robot to continue moving from the first navigation point to the first measurement coordinate.

[0081] Otherwise, it is recommended that the user intervene manually to determine whether fine-tuning of the robot is required.

[0082] In this embodiment, the problem of blocked reference marks can be solved by using the method of image comparison.

[0083] Embodiment Two The present invention also provides a navigation system for an orthodontic robot, including: A first positioning module is used to define a first spatial coordinate system using an optical positioning camera, wherein the first spatial coordinate system is used to define the first coordinates of a current first reference mark and a second reference mark; the first reference mark is set at at least one first target position on the mouth opener, and the second reference mark is set at at least one second target position on the mouth opener; the mouth opener is worn in the mouth of the subject to open and fix the mouth; wherein the first target position includes one or more of the following: positions on the mouth opener corresponding to a lip bead, a lip peak, a lip vermilion, and a midline of a dentition; A second positioning module is used to provide a preset target model for simulating the oral cavity and the mouth opener, wherein the target model defines a relative position between at least one reference mark and a target point or a tooth through a second spatial coordinate system; the target point is the position of the orthodontic robot when installing the bracket on the tooth; A third positioning module, configured to register the first spatial coordinate system and the second spatial coordinate system by using a coordinate system registration algorithm, and obtain a first measurement coordinate of the target point or the tooth in the first spatial coordinate system by corresponding transformation of the first coordinate; A first navigation point calculation module, used for determining a first navigation point according to the first measurement coordinates, the orthodontic robot moves to the first navigation point at a first speed, and a first distance between the first navigation point and the first measurement coordinates is greater than a set first threshold; a fourth positioning module, configured to obtain, when the orthodontic robot moves to the first navigation point, second coordinates of the first reference mark and the second reference mark in the first space coordinate at a second moment; A first difference calculation module, used for calculating at least one first difference between the first coordinate and the second coordinate; The first navigation judgment module is used to judge whether the first difference is less than a set first difference threshold. If so, the orthodontic robot is allowed to continue moving from the first navigation point to the first measurement coordinate.

[0084] It can be understood that the system in the present invention can implement the method steps described in any of the above embodiments, which will not be repeated here.

[0085] Embodiment 3 See also Figure 7 As shown, the present invention also provides a robot navigation method capable of synchronously installing brackets on multiple teeth, comprising the steps of: S200, setting reference marks, the reference marks comprising: a first reference mark set at at least one first target position on the mouth opener, and a second reference mark set at at least another first target position on the mouth opener, the mouth opener being worn in the oral cavity of the subject to open and fix the oral cavity; S201, defining a first spatial coordinate system using an optical positioning camera, where the first spatial coordinate system is used to define first coordinates of the first reference mark and the second reference mark; S202, providing a preset target model for simulating the oral cavity and the mouth opener, wherein the target model defines a relative position between at least one reference mark and the teeth through a second spatial coordinate system; at least two grasping mechanisms are provided at the end of the robot, and the grasping mechanisms are used to grasp and install the brackets; the at least two grasping mechanisms can simultaneously install the brackets on a group of teeth; S203, aligning the first spatial coordinate system and the second spatial coordinate system using a coordinate system registration algorithm, and obtaining a first reference coordinate of a first reference point in the first spatial coordinate system by corresponding transformation of one of the first coordinates, and obtaining a second reference coordinate of a second reference point in the first spatial coordinate system by corresponding transformation of another of the first coordinates; the reference point is the tooth; S204 calculates a first reference distance and a second reference distance of the first reference point and the second reference point in the first spatial coordinate system and the second spatial coordinate system respectively; In this embodiment, the first reference distance is the distance between the first reference point and the second reference point in the first spatial coordinate system, the second reference distance is the distance between the first reference point and the second reference point in the second spatial coordinate system, and the first and second spatial coordinate systems use the same coordinate scale (in other words, the ratio of the coordinate scale in the first spatial coordinate system to the size in the actual space is the same as the ratio of the coordinate scale in the second spatial coordinate system to the size in the actual space); S205 determines whether the difference between the first reference distance and the second reference distance is less than a set reference threshold, and if so, executes S206; S206 determines a first navigation point of at least one grasping mechanism according to at least one reference point, wherein a distance between the first navigation point and the reference point is greater than a set first threshold.

[0086] The batch installation scheme proposed in this embodiment can effectively improve the efficiency of bracket installation, and the navigation point (or navigation trajectory) of the orthodontic robot can be verified through the first reference point and the second reference point, thereby improving the accuracy of the navigation scheme based on limited optical markers.

[0087] In some embodiments, the first reference point and the second reference point are respectively located on different teeth of the set of teeth.

[0088] In some embodiments, the first target position includes one or more of the following: positions on the mouth opener corresponding to the philtrum, cupid's bow, vermilion border, midline of dentition.

[0089] In some embodiments, before step S203, it further includes: Obtaining a first image of the oral cavity and the mouth opener at the first shooting angle at the first moment; wherein, the first image shows a second target position; the second target position includes one or more of the following: philtrum, cupid's bow, vermilion border, incisor, canine, premolar, molar; Obtaining a second image of the target model at the first shooting angle; Calculating a first target interval D1 between the first target position and the second target position in the first image, and calculating a second target interval D2 between the corresponding first target position and the second target position in the second image; Calculating a first difference ratio X1 between the first target interval D1 and the second target interval D2; wherein, X1 = |D1 - D2| / D1; or, X1 = |D1 - D2| / D2; Judging whether the first difference ratio X1 is less than a preset second difference threshold; If so, allow the execution of S203; if not, send a first misalignment prompt signal to the user In some embodiments, the creating step of the target model includes: Collecting multiple photos of the object wearing the mouth opener, the photos including: at least one reference mark and at least one tooth, and there is an overlapping part between any two of the multiple photos; Creating the corresponding target model according to the multiple photos, the target model being used to describe the positional relationship between the mouth opener and the teeth in the second space coordinate system.

[0090] In some embodiments, it further includes the step: Determining the reference coordinates of the robot moving to the final target point in the second space coordinate system through the target model.

[0091] In some embodiments, it further includes: Converting the reference coordinates of the target point to obtain the first measurement coordinates of the target point in the first space coordinate system; The robot continues to move from the first navigation point to the first measurement coordinates.

[0092] For example, in this embodiment, the first measurement coordinate may refer to the spatial position where the end of the robot is located when the robot needs to install brackets on the corresponding teeth. For example, the first measurement coordinate may be a coordinate preset by a user (such as a doctor) with the aid of a target model.

[0093] For example, in some embodiments, the robot may first move to a first navigation point through a reference point, and then move from the first navigation point to the first measurement coordinate, reducing the real-time navigation pressure of the robot through segmented navigation. For example, during the movement of the robot from far to near, different moving speeds can be adopted to adapt to the navigation characteristics of different navigation stages.

[0094] Also for example, in some embodiments, the movement of the robot from the first navigation point to the first measurement coordinate can also be completed with the intervention of a doctor.

[0095] For example, in some embodiments, the step of moving from the first navigation point to the first measurement coordinate includes: Determine a second navigation point, the distance between the second navigation point and the first measurement coordinate being less than a second threshold; When the orthodontic robot moves to the second navigation point at a second speed, obtain a third image of the oral cavity at a second shooting angle through a micro camera arranged at a position adjacent to the end of the robot; Obtain a fourth image of the target model at the second shooting angle; Calculate a third target interval D3 between a first target position and a second target position in the third image, and calculate a fourth target interval D4 between the corresponding first target position and the second target position in the fourth image; Calculate a second difference ratio X2 between the third target interval D3 and the fourth target interval D4; Wherein, X2 = |D3 - D4| / D3; or X2 = |D3 - D4| / D4; Judge whether the second difference ratio X2 is less than a preset third difference threshold; If not, send a second misalignment prompt signal to the user.

[0096] In some embodiments, the photo is a CT scan photo or a standard orthodontic intraoral photo.

[0097] Embodiment Four The present invention also provides a robot navigation system for batch installation of brackets, including: Reference marks, the reference marks comprising: a first reference mark disposed at at least one first target position on the mouth opener, and a second reference mark disposed at at least one other first target position on the mouth opener, the mouth opener being worn in the oral cavity of a subject to open and fix the oral cavity; A first positioning module, used for defining a first spatial coordinate system using an optical positioning camera, wherein the first spatial coordinate system is used for defining first coordinates of the first reference mark and the second reference mark; A second positioning module is used to provide a preset target model for simulating the oral cavity and the mouth opener, wherein the target model defines the relative position between at least one reference mark and the teeth through a second spatial coordinate system; at least two grasping mechanisms are provided at the end of the robot, and the grasping mechanisms are used to grasp and install the brackets; the at least two grasping mechanisms can simultaneously install the brackets on a group of teeth; a third positioning module, configured to align the first spatial coordinate system and the second spatial coordinate system by using a coordinate system alignment algorithm, and obtain a first reference coordinate of a first reference point in the first spatial coordinate system by corresponding transformation of one of the first coordinates, and obtain a second reference coordinate of a second reference point in the first spatial coordinate system by corresponding transformation of another of the first coordinates; the reference point is the tooth; A reference distance calculation module, used to calculate a first reference distance and a second reference distance of the first reference point and the second reference point in the first spatial coordinate system and the second spatial coordinate system respectively; The first judgment module is used to judge whether the difference between the first reference distance and the second reference distance is less than a set reference threshold. If so, a first navigation point of at least one grasping mechanism is determined based on at least one reference point, and the distance between the first navigation point and the reference point is greater than a set first threshold.

[0098] It can be understood that the system in the present invention can implement the method steps described in any of the above embodiments, which will not be repeated here.

[0099] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0100] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases, the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions for causing a computer terminal (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present invention.

[0101] The embodiments of the present invention have been described above in conjunction with the accompanying drawings. However, the present invention is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present invention, those of ordinary skill in the art can also make many forms without departing from the spirit and scope protected by the claims of the present invention. These all fall within the protection scope of the present invention.

[0102] References: CN202410032572 - An intelligent navigation implanting method and system for an oral implant robot; CN202110698441 - A navigation and positioning method for an implant robot; CN202110867874 - An optical navigation dental implant robot system and its calibration method; CN202310283962 - A control method, system and storage medium for a dental surgical robot.

Claims

1. A segmented navigation method that can be used for remote operation, characterized in that: Includes steps: S100, setting reference marks, the reference marks comprising: a first reference mark set at at least one first target position on the mouth opener, and a second reference mark set at at least another first target position on the mouth opener, the mouth opener being worn in the oral cavity of a subject to open and fix the oral cavity; S101, defining a first spatial coordinate system using an optical positioning camera, where the first spatial coordinate system is used to define first coordinates of the first reference mark and the second reference mark; S102, providing a preset target model for simulating the oral cavity and the mouth opener, wherein the target model defines a relative position between at least one reference mark and a target point through a second spatial coordinate system; the target point is a position where the orthodontic robot is located when installing a bracket on the tooth; S103, aligning the first spatial coordinate system and the second spatial coordinate system using a coordinate system alignment algorithm, and obtaining a first measurement coordinate of the target point in the first spatial coordinate system by corresponding transformation of the first coordinates; S104, determining a first navigation point according to the first measurement coordinates, the orthodontic robot moving to the first navigation point at a first speed, and a first distance between the first navigation point and the first measurement coordinates being greater than a set first threshold; S105, when the orthodontic robot moves to the first navigation point, obtaining the second coordinates of the first reference mark and the second reference mark in the first space coordinates at a second moment; S106, calculating at least one first difference between the first coordinate and the second coordinate; S107, determining whether the first difference is less than a set first difference threshold, and if so, allowing the orthodontic robot to continue moving from the first navigation point to the first measurement coordinate.

2. A segmented navigation method that can be used for remote operation according to claim 1, characterized in that: The total number of the first reference marks and the second reference marks is at least three.

3. A segmented navigation method that can be used for remote operation according to claim 1, characterized in that: The optical positioning camera is a binocular vision optical positioning camera.

4. A segmented navigation method for remote operation according to claim 1, characterized in that: The reference mark is a marking ball with an infrared photosensitive coating or a visible light marking target.

5. The segmented navigation method for remote operation according to claim 1, characterized in that: Before step S103, the method further includes: Acquire a first image of the oral cavity and the mouth opener at a first shooting angle at the first moment; wherein the first image displays a second target position; the second target position includes one or more of the following: lip bead, lip peak, lip vermilion, incisor, canine, premolar, molar; Acquire a second image of the target model at the first shooting angle; Calculating a first target interval D1 between the first target position and the second target position in the first image, and calculating a second target interval D2 between the corresponding first target position and the second target position in the second image; Calculate a first difference ratio X1 between the first target interval D1 and the second target interval D2; wherein X1=|D1-D2| / D1; or, X1=|D1-D2| / D2; Determine whether the first difference ratio X1 is less than a preset second difference threshold; If yes, execution of S103 is allowed; if no, a first misalignment prompt signal is sent to the user.

6. A segmented navigation method that can be used for remote operation according to claim 5, characterized in that: At least two shooting angles are selected to respectively acquire at least two first images and at least two second images, and when at least two first difference ratios of at least two groups of images are both smaller than a second difference threshold, execution of S103 is allowed.

7. A segmented navigation method for remote operation according to claim 5, characterized in that: The step of continuing to move from the first navigation point to the first measurement coordinate comprises: Determine a second navigation point, where a distance between the second navigation point and the target point is less than a second threshold; When the orthodontic robot moves to the second navigation point at a second speed, a third image of the oral cavity at a second shooting angle is acquired by a miniature camera disposed at a position adjacent to the end of the orthodontic robot; Acquire a fourth image of the target model at the second shooting angle; Calculating a third target interval D3 between the first target position and the second target position in the third image, and calculating a fourth target interval D4 between the corresponding first target position and the second target position in the fourth image; Calculating a second difference ratio X2 between the third target interval D3 and the fourth target interval D4; Where, X2=|D3-D4| / D3; or X2=|D3-D4| / D4; Determine whether the second difference ratio X2 is less than a preset third difference threshold; If not, a second misalignment prompt signal is sent to the user.

8. A segmented navigation method for remote operation according to claim 7, characterized in that: The first speed is greater than the second speed.

9. The segmented navigation method applicable to remote operation according to claim 1, characterized in that: A gripping mechanism is provided at the end of the orthodontic robot, and the gripping mechanism is used to grip at least one bracket.

10. A segmented navigation system that can be used for remote operation, characterized in that: include: A first positioning module, used for defining a first spatial coordinate system using an optical positioning camera, wherein the first spatial coordinate system is used for defining first coordinates of a current first reference mark and a second reference mark; the first reference mark is set at at least one first target position on the mouth opener, and the second reference mark is set at at least one second target position on the mouth opener; The mouth opener is worn in the oral cavity of the subject to open and fix the oral cavity; A second positioning module is used to provide a preset target model for simulating the oral cavity and the mouth opener, wherein the target model defines a relative position between at least one reference mark and a target point through a second spatial coordinate system; the target point is the position of the orthodontic robot when installing the bracket on the tooth; A third positioning module, configured to align the first spatial coordinate system and the second spatial coordinate system by using a coordinate system alignment algorithm, and obtain a first measurement coordinate of the target point in the first spatial coordinate system by corresponding transformation of the first coordinates; A first navigation point calculation module, used for determining a first navigation point according to the first measurement coordinates, the orthodontic robot moves to the first navigation point at a first speed, and a first distance between the first navigation point and the first measurement coordinates is greater than a set first threshold; a fourth positioning module, configured to obtain, when the orthodontic robot moves to the first navigation point, second coordinates of the first reference mark and the second reference mark in the first space coordinate at a second moment; A first difference calculation module, used for calculating at least one first difference between the first coordinate and the second coordinate; The first navigation judgment module is used to judge whether the first difference is less than a set first difference threshold. If so, the orthodontic robot is allowed to continue moving from the first navigation point to the first measurement coordinate.

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