Method, device and equipment for automatically planning entrance path by robot and storage medium

Abstract

The invention provides a method, device and equipment for automatically planning an entrance path by a robot and a storage medium, and relates to the technical field of dental implants.The method comprises the steps that a target dental implant position of a patient and a dental arch curve of a jaw bone where the target dental implant position is located are determined; based on the dental arch curve and the target implant tooth position, determining a first track point of a drill bit of the implant handpiece; and based on the target implant tooth position, the first track point and the dental arch curve of the side where the target implant tooth position is located, determining an entrance path of the drill bit moving to the target implant tooth position. According to the method, the machine entrance path is automatically generated through the dental arch curve, the target implant tooth position and the characteristics of the patient, so that the machine entrance path generation method does not depend on manual execution and is simple and automatic to operate, meanwhile, errors caused by manual operation are avoided, and the efficiency and speed of machine implantation are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of dental implants, and in particular, to a method, device, equipment and storage medium for a robot to automatically plan an entry path. Background Art

[0002] Currently, a key step before implanting using a robot is to control the robotic arm to move from the current position to the starting position of implanting in the patient's mouth. This step requires a human to manually hold the robotic arm and precisely move it to the starting position of implanting, thereby generating the machine entry path.

[0003] However, this method requires manual holding operation in advance to generate the corresponding entry path, and for the paths of multiple dental implants, multiple manual operations are required. Therefore, this method for generating the machine entry path relies on manual labor, has complex operations and lacks automation, reducing the speed and efficiency of machine implanting. Summary of the Invention

[0004] The present invention provides a method, device, equipment and storage medium for a robot to automatically plan an entry path, to solve the defect in the prior art that the generation of the entry path in machine implanting relies on manual operation, has complex operations and lacks automation, resulting in reduced speed and efficiency of machine implanting, and to achieve automatically generating the machine entry path through the dental arch curve, the target dental implant position and the characteristics of the patient, so that the method for generating the machine entry path does not rely on manual execution, has simple operations and is automated. At the same time, human operation errors are avoided, and the efficiency and speed of machine implanting are improved.

[0005] A method for a robot to automatically plan an entry path provided by the present invention is characterized by including: Determining the target dental implant position of the patient and the dental arch curve of the jaw bone where the target dental implant position is located; Based on the dental arch curve and the target dental implant position, determining the first trajectory point of the drill bit of the implant handpiece; Based on the target dental implant position, the first trajectory point and the dental arch curve on the side where the target dental implant position is located, determining the entry path for the drill bit to move to the target dental implant position.

[0006] According to the method for a robot to automatically plan an entry path provided by the present invention, the step of determining the entry path for the drill bit to move to the target dental implant position based on the target dental implant position, the first trajectory point and the dental arch curve on the side where the target dental implant position is located further includes: determining the second trajectory point of the drill bit based on the first trajectory point and the characteristic information of the patient; based on the first trajectory point, the second trajectory point, the target dental implant position and the dental arch curve on the side where the target dental implant position is located, determining the entry path for the drill bit to move to the target dental implant position.

[0007] A method for a robot to automatically plan an entry path. Based on the dental arch curve and the target dental implant position, determining a first trajectory point of the drill bit of the implant handpiece includes: determining the position point of the central incisor of the patient on the dental arch curve where the target dental implant position is located; moving the dental arch curve upward by a preset distance in the vertical direction to obtain an upward-moved dental arch curve; searching for an upward-moved central incisor position point corresponding to the central incisor position point on the upward-moved dental arch curve; and determining the upward-moved central incisor position point as the first trajectory point.

[0008] A method for a robot to automatically plan an entry path. The characteristic information includes the age of the patient and the bone size of the patient. Based on the first trajectory point and the characteristic information of the patient, determining a second trajectory point of the drill bit includes: determining the extension length of the drill bit from the first trajectory point based on the age of the patient and the bone size of the patient; and determining the second trajectory point based on the normal direction of the first trajectory point on the upward-moved dental arch curve and the extension length.

[0009] A method for a robot to automatically plan an entry path. Based on the first trajectory point, the second trajectory point, the target dental implant position, and the dental arch curve on the side where the target dental implant position is located, determining the entry path for the drill bit to move to the target dental implant position includes: searching for a third trajectory point on the upward-moved dental arch curve based on the target dental implant position; determining at least one coordinate point on the curve between the first trajectory point and the third trajectory point on the upward-moved dental arch curve; and determining the entry path for the drill bit to move to the target dental implant position based on each of the coordinate points, the second trajectory point, the target dental implant position, and the dental arch curve on the side where the target dental implant position is located.

[0010] A method for a robot to automatically plan an entry path. Based on each of the coordinate points, the second trajectory point, the target dental implant position, and the dental arch curve on the side where the target dental implant position is located, determining the entry path for the drill bit to move to the target dental implant position includes: connecting the second trajectory point, the first trajectory point, and the coordinate points in sequence to obtain a first path for the drill bit to move to the target dental implant position; determining an angle deviation and a position deviation between the target dental implant position and the third trajectory point based on the dental arch curve on the side where the target dental implant position is located; determining a second path between the target dental implant position and the third trajectory point based on the angle deviation and the position deviation; and determining the entry path for the drill bit to move to the target dental implant position based on the first path and the second path.

[0011] A method for a robot to automatically plan an entry path according to the present invention, which determines the entry path for the drill bit to move to the target implant position based on the target implant position, the first trajectory point, and the dental arch curve on the side where the target implant position is located, includes: determining the upper jaw plane position and the lower jaw plane position of the patient at a preset mouth opening degree; and determining the entry path for the drill bit to move to the target implant position based on the target implant position, the first trajectory point, the dental arch curve on the side where the target implant position is located, the upper jaw plane position, and the lower jaw plane position.

[0012] A method for a robot to automatically plan an entry path according to the present invention, which determines the entry path for the drill bit to move to the target implant position based on the first trajectory point, the second trajectory point, the target implant position, and the dental arch curve on the side where the target implant position is located, includes: determining the upper jaw plane position and the lower jaw plane position of the patient at a preset mouth opening degree; and determining the entry path for the drill bit to move to the target implant position based on the target implant position, the first trajectory point, the second trajectory point, the dental arch curve on the side where the target implant position is located, the upper jaw plane position, and the lower jaw plane position.

[0013] A method for a robot to automatically plan an entry path according to the present invention, when determining the entry path for the drill bit to move to the target implant position based on the target implant position, the first trajectory point, the second trajectory point, the dental arch curve on the side where the target implant position is located, the upper jaw plane position, and the lower jaw plane position, further includes: when the drill bit is at the second trajectory point, determining the first jaw plane distance between the upper jaw plane and the lower jaw plane passing through the first trajectory point in the vertical direction; determining the inlet distance of the head based on the projection distance of the head of the implant handpiece in the vertical direction and the preset distance, where the head is the head of the implant handpiece; determining the inlet angle of the drill bit of the implant handpiece based on the comparison result of the first jaw plane distance and the inlet distance; wherein the direction of the drill bit corresponding to the inlet angle moves towards a preset direction, and the preset direction has a preset angle with the direction of the target implant position.

[0014] According to a method for automatically planning an entry path of a robot provided by the present invention, after determining the entry angle of the drill bit of the implant handpiece based on the comparison result of the first jaw plane distance and the inlet distance, the method further includes: controlling the drill bit to enter the oral cavity at the entry angle; during the movement of the drill bit along the entry path, based on the current position point where the drill bit is located, determining a second jaw plane distance between the upper jaw plane and the lower jaw plane passing through the current position point in the vertical direction; determining the in-mouth distance of the handpiece in the oral cavity based on the projection distance of the handpiece in the vertical direction in the oral cavity and the preset distance; and adjusting the tilt angle of the drill bit based on the second jaw plane distance and the in-mouth distance.

[0015] The present invention also provides a device for automatically planning an entry path of a robot, including the following modules: An arch curve determination module, configured to determine the target implant position of a patient and the arch curve of the jaw bone where the target implant position is located; A first trajectory point determination module, configured to determine a first trajectory point of the drill bit of the implant handpiece based on the arch curve and the target implant position; A path determination module, configured to determine an entry path for the drill bit to move to the target implant position based on the target implant position, the first trajectory point, and the arch curve on the side where the target implant position is located.

[0016] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein when the processor executes the computer program, the method for automatically planning an entry path of a robot as described in any one of the above is implemented.

[0017] The present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method for automatically planning an entry path of a robot as described in any one of the above is implemented.

[0018] The present invention also provides a computer program product, including a computer program, and when the computer program is executed by a processor, the method for automatically planning an entry path of a robot as described in any one of the above is implemented.

[0019] The method, device, equipment and storage medium for automatically planning the entrance path of a robot provided by the present invention determine the target dental implant position of a patient and the dental arch curve of the jawbone where the target dental implant position is located; automatically determine the first trajectory point of the drill bit of the implant handpiece through the dental arch curve and the target dental implant position; generate the machine entrance path according to the first trajectory point, the target dental implant position and the dental arch curve on the side where the target dental implant position is located. In this way, the machine entrance path is automatically generated through the dental arch curve, the target dental implant position and the characteristics of the patient, making the method for generating the machine entrance path independent of manual execution, simple in operation and automated. At the same time, human operation errors are avoided, and the efficiency and speed of machine implantation are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0021] Figure 1 is one of the flow diagrams of the method for automatically planning the entrance path of the robot provided by the present invention.

[0022] Figure 2 is the second of the flow diagrams of the method for automatically planning the entrance path of the robot according to an embodiment provided by the present invention.

[0023] Figure 3 is the structural diagram of the pre-entrance path in the entrance path provided by the present invention.

[0024] Figure 4 is the structural diagram of the intraoral movement path in the entrance path provided by the present invention.

[0025] Figure 5 is the structural diagram of the path between the target dental implant position and the third trajectory point in the entrance path provided by the present invention.

[0026] Figure 6 is the structural diagram of the device for automatically planning the entrance path of the robot provided by the present invention.

[0027] Figure 7 is the structural diagram of the electronic equipment provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in 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 in the present invention without any creative efforts shall fall within the protection scope of the present invention.

[0029] The following combines Figures 1-5 to describe the method for a robot to automatically plan an entry path of the present invention. Here, the entry path includes the pre-entry path of the drill bit of the dental implant machine and the intraoral path from the entry to the target dental implant position. This method is applicable to dental implantations at any position. The execution subject of this method can be an electronic device or the method for a robot to automatically plan an entry path provided in the electronic device. The device for the robot to automatically plan an entry path can be implemented through software, hardware or a combination of both.

[0030] Figure 1 is one of the flow schematic diagrams of the method for a robot to automatically plan an entry path provided by the present invention. As Figure 1 shown, it includes: Step 101: Determine the target dental implant position of the patient and the dental arch curve of the jaw bone where the target dental implant position is located; Step 102: Based on the dental arch curve and the target dental implant position, determine the first trajectory point of the drill bit of the implant handpiece; Step 103: Based on the target dental implant position, the first trajectory point, and the dental arch curve on the side where the target dental implant position is located, determine the entry path for the drill bit to move to the target dental implant position.

[0031] In one implementation, after determining the dental arch curve on the side where the target dental implant position is located, in order to clarify the entry path of the robot, a position point where the drill bit tip approaches the dental arch curve can be determined, which is defined here as the first trajectory point. In this way, the robot is controlled to move from any spatial point to this first trajectory point, and then automatically move along the dental arch curve to near the target dental implant position, and then finely adjusted to the dental implant position, that is, the entry path of the robot is completed. There are many methods to specifically determine the first trajectory point. For example, the corresponding point after moving a specific distance upward from the central incisor position point of the dental arch curve can be selected, or the corresponding point after moving a specific distance outward from the position point at the center of the dental arch curve can be selected. This is not limited here.

[0032] According to the method for automatically planning the entry path of a robot provided by the present invention, determining the entry path for the drill bit to move to the target dental implant position based on the target dental implant position, the first trajectory point, and the dental arch curve on the side where the target dental implant position is located may further include: determining a second trajectory point of the drill bit based on the first trajectory point and the characteristic information of the patient; determining the entry path for the drill bit to move to the target dental implant position based on the first trajectory point, the second trajectory point, the target dental implant position, and the dental arch curve on the side where the target dental implant position is located.

[0033] In one implementation, after determining the dental arch curve on the side where the target dental implant position is located and the first trajectory point of the drill bit tip, in order to ensure the safety of the patient, a second trajectory point outside the patient's mouth and at a certain safe distance from the dental arch curve may also be determined. In this way, when the robot travels into the patient's mouth from this trajectory point, it is easier to ensure the safety of the patient.

[0034] Figure 2 It is the second flow chart of the method for automatically planning the entry path of a robot according to an implementation provided by the present invention. As Figure 2 shown, the method may include the following: Step 201, determine the target dental implant position of the patient and the dental arch curve of the jaw bone where the target dental implant position is located.

[0035] The dental arch curve refers to the curve formed by the arrangement of teeth on the upper and lower jaw bones. Here, the method for determining the dental arch curve can be any appropriate value. For example, a doctor or dental technician can directly measure on the patient's dental model or teeth using a vernier caliper or a special dental measuring ruler; or, for example, use a three-dimensional scanner to scan the patient's oral cavity, etc.

[0036] It should be noted that the dental arch curve may be the upper dental arch curve or the lower dental arch curve. Among them, the arcuate line formed by connecting the incisal endpoints of each tooth in the upper jaw is called the upper dental arch curve, and the arcuate line formed by connecting the incisal endpoints of each tooth in the lower jaw is called the lower dental arch curve. Here, the target dental implant is the tooth that the patient needs to implant, and it can be a tooth in the upper jaw and / or the lower jaw. Among them, the number of target dental implants includes but is not limited to one or more.

[0037] Step 202, determine the first trajectory point of the drill bit of the implant handpiece based on the dental arch curve and the target dental implant position.

[0038] It should be noted that this first trajectory point refers to the first determined point, but does not represent the first trajectory point of the implant handpiece operation.

[0039] Here, the method for determining the first trajectory point of the drill bit of the implanting handpiece can be any suitable value. For example, the first trajectory point can be determined according to the mapping relationship among the dental arch curve, the target implant position, and the drill bit of the implanting handpiece; or, the dental arch curve can be moved, and the first trajectory point can be determined according to the moved dental arch curve.

[0040] Exemplarily, determining the first trajectory point of the drill bit of the implanting handpiece based on the dental arch curve and the target implant position includes: determining the central incisor position point of the patient on the dental arch curve where the target implant position is located; moving the dental arch curve upward by a preset distance in the vertical direction to obtain an upward-moved dental arch curve; searching for the upward-moved central incisor position point corresponding to the central incisor position point on the upward-moved dental arch curve; and determining the upward-moved central incisor position point as the first trajectory point.

[0041] Here, the central incisor position point refers to the tooth position point in the exact middle of the upper teeth / lower teeth, also known as the front teeth.

[0042] It should be noted that when there are two or more central incisor position points, the central incisor position point closer to the target implant position is selected.

[0043] Here, the preset distance can be determined by the staff according to experience and habit, or can be determined according to the results of multiple experiments.

[0044] Here, the vertical direction refers to the direction from the feet to the head. The upward-moved dental arch curve has exactly the same shape and size as the dental arch curve.

[0045] In the embodiment of the present invention, by means of the central incisor position point and the upward-moved dental arch curve, a trajectory point passed by the drill bit of the implanting handpiece during operation is automatically determined, realizing the automation of machine implanting and simple operation, avoiding mistakes in manual operation, and improving the speed and efficiency of machine implanting.

[0046] Step 203: Determine the second trajectory point of the drill bit based on the first trajectory point and the characteristic information of the patient.

[0047] It should be noted that the second trajectory point refers to the second determined trajectory point, not the second trajectory point of the drill bit operation.

[0048] Exemplarily, the characteristic information includes the age of the patient and the bone size of the patient. Determining the second trajectory point of the drill bit based on the first trajectory point and the characteristic information of the patient includes: determining the extension length of the drill bit from the first trajectory point based on the age of the patient and the bone size of the patient; and determining the second trajectory point based on the normal direction of the first trajectory point on the upward-moved dental arch curve and the extension length.

[0049] Here, the method for determining the extension length can be any suitable method. For example, it can be determined according to the mapping relationship among the patient's age, bone size, and extension length; or it can be calculated according to a calculation formula.

[0050] Here, the extension length can be the distance between the first trajectory point and the second trajectory point, and the direction of the extension length is the same as the normal direction of the first trajectory point on the upward movement curve.

[0051] Specifically, after determining the first trajectory point, according to the patient's age and bone size, determine the distance between the first trajectory point and the second trajectory point; then, starting from the first trajectory point, move along the normal direction of the first trajectory point on the upward movement curve of the dental arch by the extension length to obtain the second trajectory point.

[0052] In the embodiment of the present invention, the extension length is determined based on the patient's age and bone size, and the first trajectory point is moved along the normal direction of the first trajectory point on the upward movement curve of the dental arch by the extension length to obtain the second trajectory point. In this way, the automation of machine implantation is realized and the operation is simple, avoiding mistakes in manual operation and improving the speed and efficiency of machine implantation.

[0053] Of course, step 203 is not necessary. As long as the position of the first trajectory point is appropriate, the method of automatically planning the entry path can also be completed only by using the first trajectory point.

[0054] Step 204: Based on the first trajectory point, the second trajectory point, the target dental implant position, and the dental arch curve on the side where the target dental implant position is located, determine the entry path for the drill to move to the target dental implant position.

[0055] Here, the method for determining the entry path can be any suitable method. For example, connect the first trajectory point, the second trajectory point, the dental arch curve on the side where the target dental implant position is located, and the target dental implant position in sequence to obtain the entry path; or use a generation model to generate the entry path according to the first trajectory point, the second trajectory point, the dental arch curve on the side where the target dental implant position is located, and the target dental implant position.

[0056] Exemplarily, the determining the entry path for the drill to move to the target dental implant position based on the first trajectory point, the second trajectory point, the target dental implant position, and the dental arch curve on the side where the target dental implant position is located includes: based on the target dental implant position, search for a third trajectory point on the upward movement curve of the dental arch; determine at least one coordinate point on the curve between the first trajectory point and the third trajectory point in the upward movement curve of the dental arch; based on each of the coordinate points, the second trajectory point, the target dental implant position, and the dental arch curve on the side where the target dental implant position is located, determine the entry path for the drill to move to the target dental implant position.

[0057] It should be noted that the third trajectory point can be the point on the upper dental arch curve that is closest to the target dental implant position, or the point whose distance from the target dental implant position meets a certain threshold value.

[0058] It should be noted that the curve between the first trajectory point and the third trajectory point is a partial curve in the upper dental arch curve.

[0059] Exemplarily, after determining the first trajectory point, the second trajectory point, and the target dental implant position, the third trajectory point is searched for on the upper dental arch curve; then, at least one coordinate point on the curve between the first trajectory point and the third trajectory point in the upper dental arch curve is determined; each coordinate point, the second trajectory point, and the target dental implant position are connected in sequence to obtain the entrance path.

[0060] In the embodiment of the present invention, the target path is determined by the third trajectory point, at least one coordinate point on the curve between the first trajectory point and the third trajectory point, and the target dental implant position. In this way, the automation of machine implantation and the simplicity of operation are realized, the mistakes of manual operation are avoided, and the speed and efficiency of machine implantation are improved.

[0061] Exemplarily, determining the entrance path for the drill bit to move to the target dental implant position based on each of the coordinate points, the second trajectory point, the target dental implant position, and the dental arch curve on the side where the target dental implant position is located includes: connecting the second trajectory point, the first trajectory point, and the coordinate point in sequence to obtain the first path for the drill bit to move to the target dental implant position; determining the angular deviation and position deviation between the target dental implant position and the third trajectory point based on the dental arch curve on the side where the target dental implant position is located; determining the second path between the target dental implant position and the third trajectory point based on the angular deviation and the position deviation; determining the entrance path for the drill bit to move to the target dental implant position based on the first path and the second path.

[0062] It should be noted that the third trajectory point can be the point on the upper dental arch curve that is closest to the target dental implant position, or the point whose distance from the target dental implant position meets a certain threshold value. Therefore, there are an angular deviation and a position deviation between the target dental implant position and the third trajectory point. According to the angular deviation and the position deviation, the second path between the target dental implant position and the third trajectory point is determined, and finally the first path and the second path are combined and connected to obtain the entrance path.

[0063] Here, the methods for determining the angular deviation and the position deviation between the target dental implant position and the third trajectory point include but are not limited to using a professional machine for measurement, or calculating through formulas, etc.

[0064] Exemplarily, the method for determining the second path may be to divide it into multiple segments according to the angular deviation and position deviation, and change a certain angle and / or position for each segment.

[0065] Here, the first path and the second path can be connected to obtain the entrance path; or a generative model can be used to generate the entrance path based on the first path and the second path, etc.

[0066] In the embodiments of the present invention, the first path is determined through the first trajectory point, the second trajectory point, and at least one coordinate point; the second path is determined according to the angular deviation and position deviation between the target dental implant position and the third trajectory point; the entrance path is determined according to the first path and the second path. In this way, the accuracy of robotic implantation is improved, and the automation and simplicity of robotic implantation are achieved, avoiding mistakes in manual operations and improving the speed and efficiency of robotic implantation.

[0067] In another embodiment, determining the entrance path for the drill to move to the target dental implant position based on the target dental implant position, the first trajectory point, and the dental arch curve on the side where the target dental implant position is located includes: determining the positions of the upper jaw plane and the lower jaw plane of the patient at a preset mouth opening degree; based on the target dental implant position, the first trajectory point, the dental arch curve on the side where the target dental implant position is located, and the positions of the upper jaw plane and the lower jaw plane, determining the entrance path for the drill to move to the target dental implant position.

[0068] Here, the method for determining the upper jaw plane and the lower jaw plane can be any suitable method. For example, a mouth gag is worn on the patient to ensure that the patient's mouth opening degree remains unchanged, and multiple points (3 or more) are collected at the protruding positions on the upper and lower tooth surfaces of the patient through a calibration locator. Other methods for collecting the jaw plane can also be used to generate the upper jaw plane and the lower jaw plane based on the collected points. For another example, the upper and lower teeth of the patient are scanned by a scanner to obtain the specific positions and relative positions of the upper jaw plane and the lower jaw plane.

[0069] It should be noted that in addition to determining the entrance path according to the first trajectory point, the second trajectory point, and the third trajectory point, the entrance path for the drill to move to the target dental implant position can also be determined according to the target dental implant position, the first trajectory point, the dental arch curve on the side where the target dental implant position is located, and the positions of the upper jaw plane and the lower jaw plane. Among them, the positions of the upper jaw plane and the lower jaw plane are used to adjust the angle of the head of the implant handpiece when entering the oral cavity and inside the oral cavity, to avoid the implant handpiece hitting the teeth.

[0070] In another embodiment, determining the entry path for the drill bit to move to the target dental implant position based on the first trajectory point, the second trajectory point, the target dental implant position, and the dental arch curve on the side where the target dental implant position is located includes: determining the maxillary plane position and the mandibular plane position of the patient at a preset mouth opening degree; based on the target dental implant position, the first trajectory point, the second trajectory point, the dental arch curve on the side where the target dental implant position is located, and the maxillary plane position and the mandibular plane position, determining the entry path for the drill bit to move to the target dental implant position.

[0071] It should be noted that in addition to determining the entry path based on the target dental implant position, the first trajectory point, the dental arch curve on the side where the target dental implant position is located, and the maxillary plane position and the mandibular plane position, the entry path can also be further determined based on the target dental implant position, the first trajectory point, the second trajectory point, the dental arch curve on the side where the target dental implant position is located, and the maxillary plane position and the mandibular plane position, so as to improve the accuracy of the entry path.

[0072] In the embodiment of the present invention, by determining the target dental implant position of the patient and the dental arch curve of the jaw bone where the target dental implant position is located, the first trajectory point of the drill bit of the implant handpiece is automatically determined; finally, based on the first trajectory point and the target dental implant position, a machine entry path is generated. In this way, by the machine automatically generating the machine entry path according to the dental arch curve, the target dental implant position, and the characteristics of the patient, the machine entry path generation method does not rely on manual execution, is simple to operate and automated. At the same time, it avoids human operation errors and improves the efficiency and speed of machine implanting.

[0073] Further, for the method of determining the entry path for the drill bit to move to the target dental implant position based on the first trajectory point, the second trajectory point, the target dental implant position, and the dental arch curve on the side where the target dental implant position is located, the method further includes: When the drill bit is at the second trajectory point, determining the first jaw plane distance between the maxillary plane and the mandibular plane passing through the first trajectory point along the vertical direction; Based on the projected distance of the head of the implant handpiece in the vertical direction and the preset distance, determining the inlet distance of the head of the implant handpiece, where the drill head is the head of the implant handpiece containing the drill bit; based on the comparison result between the first jaw plane distance and the inlet distance, determining the inlet angle of the drill bit of the implant handpiece; wherein, the direction of the drill bit corresponding to the inlet angle moves towards a preset direction, and the preset direction has a preset angle with the direction of the target dental implant position.

[0074] It should be noted that before the implant handpiece device enters the oral cavity (i.e., when the drill bit of the implant handpiece is at the second trajectory point), it is necessary to ensure that the sum of the projected distance of the handpiece of the implant handpiece in the vertical direction and the preset distance is less than the distance between the first jaw plane and the second jaw plane passing through the first trajectory point in the vertical direction when the patient opens the mouth, so as to avoid the implant handpiece hitting the teeth.

[0075] Here, the inlet distance can be the sum of the projected distance and the preset distance, or it can be the weighted sum of the projected distance and the preset distance.

[0076] It should be noted that when the distance between the first jaw planes is greater than or equal to the inlet distance, the inlet distance is not adjusted; when the distance between the first jaw planes is less than the inlet distance, the implant handpiece is rotated around the handle of the implant handpiece. If implanting upper teeth, the drill needle is rotated downward, and if implanting lower teeth, the drill needle is rotated upward, while keeping the Z coordinate axis of the handpiece unchanged until the distance between the first jaw planes is equal to the inlet distance to obtain the inlet angle.

[0077] It should be noted that during the rotation of the implant handpiece, the direction of the drill bit is always roughly towards the direction of the target implant tooth position.

[0078] Specifically, after determining the entry path, when the drill bit of the implant handpiece is at the second trajectory point, it is necessary to compare the distance between the first jaw planes and the inlet distance. When the distance between the first jaw planes is greater than or equal to the inlet distance, the inlet distance is not adjusted; when the distance between the first jaw planes is less than the inlet distance, the drill needle of the implant handpiece is rotated around the handle of the implant handpiece. If implanting upper teeth, the drill needle is rotated downward, and if implanting lower teeth, the drill needle is rotated upward, while keeping the Z coordinate axis of the handpiece unchanged until the distance between the first jaw planes is equal to the inlet distance to obtain the inlet angle.

[0079] In the embodiment of the present invention, by comparing the inlet distance of the handpiece of the implant handpiece with the distance between the jaw planes in the pre-entry path, and according to the comparison result, the inlet angle of the drill needle of the implant handpiece is adjusted in a timely manner. In this way, the drill needle of the implant handpiece is timely prevented from colliding with teeth or other devices, ensuring the reliability of the operation of the implant handpiece, and improving the efficiency and speed of machine implantation.

[0080] Further, after determining the inlet angle of the drill needle of the implant handpiece based on the comparison result of the distance between the first jaw planes and the inlet distance, the method further includes: Controlling the drill needle of the implant handpiece to enter the oral cavity at the inlet angle; During the movement of the drill bit along the entry path, based on the position point where the drill bit is located, determining the distance between the upper jaw plane and the lower jaw plane passing through the current position point in the vertical direction; Determine the intraoral distance of the handpiece in the oral cavity based on the projected distance of the handpiece in the vertical direction in the oral cavity and the preset distance; Adjust the inclination angle of the drill bit based on the second occlusal plane distance and the intraoral distance.

[0081] Here, the inlet angle refers to the inclination angle of the drill bit of the implant handpiece. The intraoral distance of the handpiece in the oral cavity can be the sum of the projected distance and the preset distance, or the weighted sum of the projected distance and the preset distance.

[0082] It should be noted that during the operation in the oral cavity, it is also necessary to avoid hitting the teeth or equipment. Therefore, during the operation of the implant handpiece drill bit, the intraoral distance of the implant handpiece in the oral cavity is calculated in real time and the second occlusal plane distance corresponding to the location is retrieved. When the intraoral distance of the implant handpiece in the oral cavity is less than or equal to the second occlusal plane distance, do not adjust the angle of the implant handpiece; when the intraoral distance of the implant handpiece in the oral cavity is greater than the second occlusal plane distance, rotate the implant handpiece around the handle away from the target implant position to avoid the implant handpiece hitting the teeth or other equipment.

[0083] In the embodiment of the present invention, by retrieving the second occlusal plane distance corresponding to the current position point in real time in the intraoral movement trajectory and calculating the intraoral distance of the implant handpiece corresponding to the current position point in the oral cavity, and comparing the intraoral distance of the handpiece in the oral cavity with the second occlusal plane distance, according to the comparison result, the inlet angle of the handpiece is adjusted in time. In this way, the drill bit of the implant handpiece is timely avoided from colliding with the teeth or other equipment, ensuring the reliability of the operation of the implant handpiece, as well as improving the efficiency and speed of machine implantation.

[0084] The above first occlusal plane distance and second occlusal plane distance are related to the predetermined mouth opening degree. After determining the positions of the upper occlusal plane and the lower occlusal plane, the above distances are determined. Therefore, when the drill bit runs to the corresponding position, the corresponding occlusal plane distance is retrieved for calculation and comparison. And for this calculation method, it is necessary to ensure that the mouth opening degree when the robot enters is greater than or equal to the predetermined mouth opening degree when determining the positions of the upper occlusal plane and the lower occlusal plane, which can be achieved by wearing the same mouth opener during the operation.

[0085] The following is a specific application scenario of the method for the robot to automatically plan the entrance path provided by the present invention.

[0086] Figure 3 It is a schematic structural diagram of the pre-entrance path in the entrance path provided by the present invention. As Figure 3 shown, the target implant position is the patient's right lower first molar. According to the target implant position, select the mid-incisor position point closest to it (such as Figure 3 the position point A in), and along the vertical direction from the foot to the head according to the dental arch curve (such as Figure 3Move a certain distance l in the Z direction (in the Z direction in []) to obtain the upper-moved dental arch curve, and find the upper-moved central incisor position point corresponding to the central incisor position point on the upper-moved dental arch curve, that is, the first trajectory point (such as Figure 3 Position point B in []), and move and extend a length d outward along the normal direction of point B on the upper-moved dental arch curve to obtain the second trajectory point (that is, Figure 3 Point C in []). Move the tip of the drill bit of the implant handpiece to the second trajectory point, that is, Figure 3 Point C in [], where the path between other points and point C is used as the pre-entry path. For example, Figure 3 In [], it is the path from position 1 to position 2, and the tip of the drill bit of the implant handpiece is located at point C. According to the first jaw plane distance h in the Z direction (from foot to head direction) of the upper jaw plane and the lower jaw plane at position point A, and the inlet distance p which is the sum of the projected distance m of the handpiece in the Z direction and the upper-moved distance l, determine the inclination angle of the drill bit. If the distance h is less than p, the drill bit needs to be inclined to ensure that the sum p of the projected distance m of the handpiece height in the Z direction and the upper-moved distance l is less than or equal to the first jaw plane distance h. The inclination direction is to make the drill bit roughly towards the direction of the target implant position. Among them, the implant handpiece can rotate around the machine handle as the axis, and finally stop the position of the drill bit at the pre-entry position C, ensuring that the implant handpiece will not collide with the teeth when entering. The implant handpiece inclines to reach position 2 and generates the corresponding path. In most cases, the implant handpiece does not need to be inclined because generally p is less than h in the entry stage. In most cases, position 1 and position 2 coincide. Calculate the straight-line movement from the pre-entry position C to the entry position point B on the upper-moved dental arch curve corresponding to the anterior tooth position point A, that is, the drill bit moves from position 2 to position 3, which is the first part of the first path.

[0087] Figure 4 It is a schematic structural diagram of the intraoral movement path in the entry path provided by the present invention. As Figure 4 Shown, according to the point D which is the closest point in space distance between the upper-moved central incisor position point B and the final target implant position E on the upper-moved dental arch curve, separate multiple coordinate points from the curve between points B and D according to the specified length, and keep the implant handpiece handle (such as Figure 4The direction of the Z-axis (the middle Z-axis) remains unchanged. The drill bit moves successively according to these coordinate points. During the movement, check each coordinate point and adjust the tilt angle of the handpiece according to the distance h in the Z direction at the position of the implant handpiece of the maxillary and mandibular planes, so as to avoid collision between the implant handpiece and teeth, gums, etc. Connect these coordinate points to generate the intraoral movement path, that is, the path of the implant handpiece from position 3 to position 4, which is the second part of the first path. When the drill bit travels along the upward-moving dental arch curve, the drill bit always remains on the upward-moving dental arch curve, while the drill bit of the implant handpiece will gradually tilt to the right. When rotating and tilting, the Z-axis direction of the handpiece can be kept unchanged as long as the angle between the Z-axis of the handpiece and the tangent of the upward-moving dental arch curve where the tip of the handpiece drill is located is within a certain threshold range, otherwise the handle of the implant handpiece is likely to hit the teeth.

[0088] Figure 5 It is a schematic structural diagram of the path between the target implant position and the third trajectory point in the entrance path provided by the present invention. As Figure 5 shown, after the tip of the drill bit of the implant handpiece moves along the upward-moving dental arch curve to the point D on the curve corresponding to the target implant position point E, which is the closest to the implant site in terms of spatial distance, the angle and position deviation between the current implant handpiece and the position E of the implant handpiece at the target planned implant position can be calculated. During the adjustment process, it can be carried out in multiple steps. At each step, check and ensure that the sum p of the height of the handpiece head and the upward movement distance l is less than or equal to the second jaw plane distance h from the mandibular plane to the maxillary plane passing through the current position along the Z direction, that is, p ≤ h, to prevent the handpiece from hitting the teeth and the dental alveolus. It can be divided into multiple segments according to the angle and position deviation, and each segment changes a certain angle and / or position until it coincides with the planned target handpiece at the planned implant position. In this way, the final position adjustment trajectory is generated, that is, the path of the handpiece from position 4 to position 5, which is the second path.

[0089] The device for automatically planning the entrance path by the robot provided by the present invention will be described below. The device for automatically planning the entrance path by the robot described below can be correspondingly referred to the method for automatically planning the entrance path by the robot described above.

[0090] Figure 6 It is a schematic structural diagram of the device for automatically planning the entrance path by the robot provided by the present invention. As Figure 6 shown, the device 500 for automatically planning the entrance path by the robot includes: An arch curve determination module 501, configured to determine the target implant position of the patient and the arch curve of the jaw bone where the target implant position is located; A first trajectory point determination module 502, configured to determine the first trajectory point of the drill bit of the implant handpiece based on the arch curve and the target implant position; A path determination module 503, configured to determine an entry path for the drill bit to move to the target dental implant position based on the target dental implant position, the first trajectory point, and the dental arch curve on the side where the target dental implant position is located.

[0091] In some embodiments, the path determination module 503 is specifically configured to: determine a second trajectory point of the drill bit based on the first trajectory point and the characteristic information of the patient; determine an entry path for the drill bit to move to the target dental implant position based on the first trajectory point, the second trajectory point, the target dental implant position, and the dental arch curve on the side where the target dental implant position is located.

[0092] In some embodiments, the first trajectory point determination module 502 is specifically configured to: determine a central incisor position point of the patient on the dental arch curve where the target dental implant position is located; move the dental arch curve upward by a preset distance in the vertical direction to obtain an upward-moved dental arch curve; search for an upward-moved central incisor position point corresponding to the central incisor position point on the upward-moved dental arch curve; and determine the upward-moved central incisor position point as the first trajectory point.

[0093] In some embodiments, the path determination module 503 is further specifically configured to: determine an extension length of the implant handpiece drill bit from the first trajectory point based on the age of the patient and the bone size of the patient; and determine the second trajectory point based on the normal direction of the first trajectory point on the upward-moved dental arch curve and the extension length.

[0094] In some embodiments, the path determination module 503 is further specifically configured to: search for a third trajectory point on the upward-moved dental arch curve based on the target dental implant position; determine at least one coordinate point on the curve between the first trajectory point and the third trajectory point on the upward-moved dental arch curve; and determine an entry path for the drill bit to move to the target dental implant position based on each of the coordinate points, the second trajectory point, the target dental implant position, and the dental arch curve on the side where the target dental implant position is located.

[0095] In some embodiments, the path determination module 503 is further specifically configured to: sequentially connect the second trajectory point, the first trajectory point, and the coordinate points to obtain a first path for the drill bit to move to the target dental implant position; determine an angle deviation and a position deviation between the target dental implant position and the third trajectory point based on the dental arch curve on the side where the target dental implant position is located; determine a second path between the target dental implant position and the third trajectory point based on the angle deviation and the position deviation; and determine an entry path for the drill bit to move to the target dental implant position based on the first path and the second path.

[0096] In some embodiments, the path determination module 503 is further specifically configured to: determine the maxillary plane position and the mandibular plane position of the patient at a preset mouth opening degree; and determine the entry path for the drill bit to move to the target dental implant position based on the target dental implant position, the first trajectory point, the dental arch curve on the side where the target dental implant position is located, and the maxillary plane position and the mandibular plane position.

[0097] In some embodiments, the path determination module 503 is further specifically configured to: determine the maxillary plane position and the mandibular plane position of the patient at a preset mouth opening degree; and determine the entry path for the drill bit to move to the target dental implant position based on the target dental implant position, the first trajectory point, the second trajectory point, the dental arch curve on the side where the target dental implant position is located, and the maxillary plane position and the mandibular plane position.

[0098] In some embodiments, when the drill bit is at the second trajectory point, the path determination module 503 is further specifically configured to: determine a first maxillomandibular plane distance between the maxillary plane and the mandibular plane passing through the first trajectory point along the vertical direction; determine an inlet distance of the head of the implant handpiece based on the projection distance of the head of the implant handpiece in the vertical direction and the preset distance, where the head is the head of the implant handpiece; and determine an inlet angle of the drill bit of the implant handpiece based on a comparison result between the first maxillomandibular plane distance and the inlet distance; wherein the direction of the drill bit corresponding to the inlet angle is towards the direction of the target dental implant position.

[0099] In some embodiments, after determining the inlet angle of the drill bit of the implant handpiece based on the comparison result between the first maxillomandibular plane distance and the inlet distance, the device 500 for automatically planning the entry path by the robot includes an adjustment module, which is specifically configured to: control the drill bit to enter the oral cavity at the inlet angle; during the movement of the drill bit along the entry path, determine a second maxillomandibular plane distance between the maxillary plane and the mandibular plane passing through the current position point of the drill bit along the vertical direction based on the current position point where the drill bit is located; determine an intraoral distance of the head of the handpiece in the oral cavity based on the projection distance of the head of the handpiece in the vertical direction in the oral cavity and the preset distance; and adjust the tilt angle of the drill bit based on the second maxillomandibular plane distance and the intraoral distance.

[0100] Figure 7 is a schematic structural diagram of an electronic device provided by the present invention, as Figure 7As shown, the electronic device may include: a processor 610, a communications interface 620, a memory 630, and a communication bus 640. Among them, the processor 610, the communications interface 620, and the memory 630 complete communication with each other through the communication bus 640. The processor 610 may call the logic instructions in the memory 630 to execute the method for automatically planning the entry path of the robot. The method includes: determining the target dental implant position of the patient and the dental arch curve of the jaw bone where the target dental implant position is located; based on the dental arch curve and the target dental implant position, determining the first trajectory point of the drill bit of the implant handpiece; based on the target dental implant position, the first trajectory point, and the dental arch curve on the side where the target dental implant position is located, determining the entry path for the drill bit to move to the target dental implant position.

[0101] In addition, when the logic instructions in the above-mentioned memory 630 are implemented in the form of a software functional unit and sold or used as an independent product, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0102] On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the method for automatically planning the entry path of the robot provided by the above-mentioned various methods. The method includes: determining the target dental implant position of the patient and the dental arch curve of the jaw bone where the target dental implant position is located; based on the dental arch curve and the target dental implant position, determining the first trajectory point of the drill bit of the implant handpiece; based on the target dental implant position, the first trajectory point, and the dental arch curve on the side where the target dental implant position is located, determining the entry path for the drill bit to move to the target dental implant position.

[0103] In another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements a method for automatically planning an entry path of a robot provided by the above various methods. The method includes: determining a target dental implant position of a patient and an arch curve of the jaw bone where the target dental implant position is located; determining a first trajectory point of a drill bit of an implant handpiece based on the arch curve and the target dental implant position; and determining an entry path for the drill bit to move to the target dental implant position based on the target dental implant position, the first trajectory point, and the arch curve on the side where the target dental implant position is located.

[0104] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative effort.

[0105] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disc, etc., and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0106] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. And these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for a robot to automatically plan an entrance path, characterized in that, Comprising: Determine the target dental implant position of the patient and the dental arch curve of the jaw bone where the target dental implant position is located; Based on the dental arch curve and the target dental implant position, determine the first trajectory point of the drill bit of the implant handpiece; Based on the target dental implant position, the first trajectory point, and the dental arch curve on the side where the target dental implant position is located, determine the entry path for the drill bit to move to the target dental implant position.

2. The method for automatically planning an entrance path of a robot according to claim 1, characterized in that The determining the entry path for the drill bit to move to the target dental implant position based on the target dental implant position, the first trajectory point, and the dental arch curve on the side where the target dental implant position is located includes: Based on the first trajectory point and the characteristic information of the patient, determine the second trajectory point of the drill bit; Based on the first trajectory point, the second trajectory point, the target dental implant position, and the dental arch curve on the side where the target dental implant position is located, determine the entry path for the drill bit to move to the target dental implant position.

3. The method for the robot to automatically plan an entrance path according to claim 1 or 2, characterized in that, The determining the first trajectory point of the drill bit of the implant handpiece based on the dental arch curve and the target dental implant position includes: Determine the central incisor position point of the patient on the dental arch curve where the target dental implant position is located; Move the dental arch curve upward by a preset distance in the vertical direction to obtain an upward-moved dental arch curve; Search for the upward-moved central incisor position point corresponding to the central incisor position point on the upward-moved dental arch curve; Determine the upward-moved central incisor position point as the first trajectory point.

4. The method for automatically planning an entrance path of a robot according to claim 2, wherein, The characteristic information includes the age of the patient and the bone size of the patient. The determining the second trajectory point of the drill bit based on the first trajectory point and the characteristic information of the patient includes: Based on the age of the patient and the bone size of the patient, determine the extension length of the drill bit from the first trajectory point; Based on the normal direction of the first trajectory point on the upward-moved dental arch curve and the extension length, determine the second trajectory point.

5. The method for automatically planning an entrance path of a robot according to claim 2, wherein, The determining the entry path for the drill bit to move to the target dental implant position based on the first trajectory point, the second trajectory point, the target dental implant position, and the dental arch curve on the side where the target dental implant position is located includes: Based on the target dental implant position, search for the third trajectory point on the upward-moved dental arch curve; Determine at least one coordinate point on the curve between the first trajectory point and the third trajectory point on the upward-moved dental arch curve; Based on each of the coordinate points, the second trajectory point, the target dental implant position, and the dental arch curve on the side where the target dental implant position is located, determine the entry path for the drill bit to move to the target dental implant position.

6. The method for automatically planning an entrance path of a robot according to claim 5, characterized in that, The determining the entry path for the drill bit to move to the target dental implant position based on each of the coordinate points, the second trajectory point, the target dental implant position, and the dental arch curve on the side where the target dental implant position is located includes: Connect the second trajectory point, the first trajectory point, and the coordinate points in sequence to obtain the first path for the drill bit to move to the target dental implant position; Based on the dental arch curve on the side where the target dental implant position is located, determine the angular deviation and position deviation between the target dental implant position and the third trajectory point; Based on the angle deviation and the position deviation, determine a second path between the target dental implant position and the third trajectory point; Based on the first path and the second path, determine an entry path for the drill to move to the target dental implant position.

7. The method for automatically planning an entrance path by a robot according to claim 1, wherein The method for determining the entry path for the drill to move to the target dental implant position based on the target dental implant position, the first trajectory point, and the dental arch curve on the side where the target dental implant position is located includes: Determine the position of the maxillary plane and the position of the mandibular plane of the patient at a preset mouth opening degree; Based on the target dental implant position, the first trajectory point, the dental arch curve on the side where the target dental implant position is located, and the position of the maxillary plane and the position of the mandibular plane, determine the entry path for the drill to move to the target dental implant position.

8. The method for automatically planning an entrance path by a robot according to any one of claims 4-6, characterized in that, The method for determining the entry path for the drill to move to the target dental implant position based on the first trajectory point, the second trajectory point, the target dental implant position, and the dental arch curve on the side where the target dental implant position is located includes: Determine the position of the maxillary plane and the position of the mandibular plane of the patient at a preset mouth opening degree; Based on the target dental implant position, the first trajectory point, the second trajectory point, the dental arch curve on the side where the target dental implant position is located, and the position of the maxillary plane and the position of the mandibular plane, determine the entry path for the drill to move to the target dental implant position.

9. The method for the robot to automatically plan an entrance path according to claim 8, characterized in that The method for determining the entry path for the drill to move to the target dental implant position based on the target dental implant position, the first trajectory point, the second trajectory point, the dental arch curve on the side where the target dental implant position is located, and the position of the maxillary plane and the position of the mandibular plane further includes: When the drill is at the second trajectory point, determine a first maxillomandibular plane distance between the maxillary plane and the mandibular plane passing through the first trajectory point along the vertical direction; Based on the projection distance of the head of the implant handpiece in the vertical direction and the preset distance, determine the inlet distance of the head of the implant handpiece, where the head is the head of the implant handpiece; Based on the comparison result between the first maxillomandibular plane distance and the inlet distance, determine the inlet angle of the drill bit of the implant handpiece; wherein, the direction of the drill bit corresponding to the inlet angle moves towards a preset direction, and the preset direction has a preset angle with the direction of the target dental implant position.

10. The method for the robot to automatically plan an entrance path according to claim 9, wherein After determining the inlet angle of the drill bit of the implant handpiece based on the comparison result between the first maxillomandibular plane distance and the inlet distance, the method further includes: Control the drill bit to enter the oral cavity at the inlet angle; During the process of the drill moving along the entry path, based on the current position point where the drill is located, determine a second maxillomandibular plane distance between the maxillary plane and the mandibular plane passing through the current position point along the vertical direction; Based on the projection distance of the head in the vertical direction within the oral cavity and the preset distance, determine the intraoral distance of the head within the oral cavity; Based on the second maxillomandibular plane distance and the intraoral distance, adjust the tilt angle of the drill bit.

11. A device for automatically planning an entrance path for a robot, characterized in that, including: An arch curve determination module, configured to determine a target dental implant position of a patient and an arch curve of the jawbone where the target dental implant position is located; A first trajectory point determination module, configured to determine a first trajectory point of a drill bit of an implant handpiece based on the arch curve and the target dental implant position; A path determination module, configured to determine an entrance path for the drill bit to move to the target dental implant position based on the target dental implant position, the first trajectory point, and the arch curve on the side where the target dental implant position is located.

12. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the method for a robot to automatically plan an entrance path according to any one of claims 1 to 10.

13. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method for a robot to automatically plan an entrance path according to any one of claims 1 to 10.

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