Method, apparatus, device and storage medium for robot to automatically plan an entry path

Abstract

The application provides a method, device and equipment for automatically planning an entrance path of a robot, and a storage medium, and relates to the technical field of dental implants. The method comprises the following steps: determining a target dental implant site of a patient and a dental arch curve of a jaw bone where the target dental implant site is located; determining a first trajectory point of a drill bit of a dental implant machine based on the dental arch curve and the target dental implant site; and determining an entrance path of the drill bit moving to the target dental implant site based on the target dental implant site, the first trajectory point and the dental arch curve on the side where the target dental implant site is located. The application automatically generates a machine entrance path by using the dental arch curve, the target dental implant site and the characteristics of the patient, so that the machine entrance path generation method is not dependent on manual execution, is simple to operate and is automated. Meanwhile, the application avoids human operation errors and improves the efficiency and speed of machine implantation.

Description

Technical Field

[0001] This invention relates to the field of dental implant technology, and in particular to a method, apparatus, device, and storage medium for a robot to automatically plan an entry path. Background Technology

[0002] Currently, a crucial step before using a robot for implantation is controlling the robotic arm to move from its current position to the starting position for implantation inside the patient's mouth. This step requires a person to manually hold the robotic arm and precisely move it to the starting position for implantation, thereby generating the machine's entry path.

[0003] However, this method requires manual operation to generate the corresponding entry path in advance, and multiple manual operations are required for the paths of multiple implants. Therefore, this machine entry path generation method relies on manual labor, is complex to operate and lacks automation, which reduces the speed and efficiency of machine implantation. Summary of the Invention

[0004] This invention provides a method, apparatus, device, and storage medium for automatically planning the entry path of a robot, which solves the defects of existing machine implantation technology, such as reliance on manual operation for generating the entry path, complex operation, and lack of automation, which leads to reduced speed and efficiency of machine implantation. It realizes the automatic generation of the machine entry path through the arch curve, target implant position, and patient characteristics, so that the machine entry path generation method does not rely on manual execution, is simple to operate, and is automated. At the same time, it avoids human operation errors and improves the efficiency and speed of machine implantation.

[0005] This invention provides a method for automatically planning an entry path for a robot, characterized by comprising:

[0006] Determine the patient's target implant site and the dental arch curve of the jawbone where the target implant site is located;

[0007] Based on the dental arch curve and the target implant position, determine the first trajectory point of the drill bit for the implant handpiece;

[0008] Based on the target implant site, the first trajectory point, and the dental arch curve on the side where the target implant site is located, the entry path of the drill bit to the target implant site is determined.

[0009] According to the method for automatically planning the entry path of a robot provided by the present invention, the step of determining the entry path of the drill bit to the target implant site based on the target implant site, the first trajectory point, and the dental arch curve on the side where the target implant site is located, further includes: determining a second trajectory point of the drill bit based on the first trajectory point and the patient's feature information; and determining the entry path of the drill bit to the target implant site based on the first trajectory point, the second trajectory point, the target implant site, and the dental arch curve on the side where the target implant site is located.

[0010] According to a method for automatically planning an entry path for a robot provided by the present invention, the step of determining the first trajectory point of the drill bit of the implant handpiece based on the dental arch curve and the target implant position includes: determining the position point of the patient's central incisor on the dental arch curve where the target implant position is located; moving the dental arch curve vertically upward by a preset distance to obtain an upward dental arch curve; finding the upwardly moved central incisor position point on the upwardly moved dental arch curve corresponding to the central incisor position point; and determining the upwardly moved central incisor position point as the first trajectory point.

[0011] According to a method for automatically planning an entry path for a robot provided by the present invention, the feature information includes the patient's age and the patient's bone size. The step of determining a second trajectory point of the drill bit based on a first trajectory point and the patient's feature information includes: determining the extension length of the drill bit from the first trajectory point based on the patient's age and the patient's bone size; and determining the second trajectory point based on the normal direction of the first trajectory point on the upward dental arch curve and the extension length.

[0012] A method for automatically planning an entry path for a robot, wherein determining the entry path for a drill bit to move to the target implant site based on a first trajectory point, a second trajectory point, the target implant site, and the dental arch curve on the side of the target implant site, includes: finding a third trajectory point on the upward dental arch curve based on the target implant site; determining at least one coordinate point on the curve between the first trajectory point and the third trajectory point in the upward dental arch curve; and determining the entry path for the drill bit to move to the target implant site based on each of the coordinate points, the second trajectory point, the target implant site, and the dental arch curve on the side of the target implant site.

[0013] According to a method for automatically planning an entry path for a robot provided by the present invention, the step of determining the entry path for the drill bit to move to the target implant site based on each of the coordinate points, the second trajectory point, the target implant site, and the dental arch curve on the side where the target implant site is located includes: sequentially connecting the second trajectory point, the first trajectory point, and the coordinate point to obtain a first path for the drill bit to move to the target implant site; determining the angular deviation and positional deviation between the target implant site and the third trajectory point based on the dental arch curve on the side where the target implant site is located; determining a second path between the target implant site and the third trajectory point based on the angular deviation and the positional deviation; and determining the entry path for the drill bit to move to the target implant site based on the first path and the second path.

[0014] According to a method for automatically planning an entry path for a robot provided by the present invention, the step of determining the entry path for the drill bit to move to the target implant site based on the target implant site, the first trajectory point, and the dental arch curve on the side where the target implant site is located includes: determining the maxillary plane position and mandibular plane position of the patient under a preset mouth opening; and determining the entry path for the drill bit to move to the target implant site based on the target implant site, the first trajectory point, the dental arch curve on the side where the target implant site is located, and the maxillary plane position and the mandibular plane position.

[0015] According to a method for automatically planning an entry path for a robot provided by the present invention, the step of determining the entry path for the drill bit to move to the target implant site based on the first trajectory point, the second trajectory point, the target implant site, and the dental arch curve on the side where the target implant site is located includes: determining the maxillary plane position and mandibular plane position of the patient under a preset mouth opening; and determining the entry path for the drill bit to move to the target implant site based on the target implant site, the first trajectory point, the second trajectory point, the dental arch curve on the side where the target implant site is located, and the maxillary plane position and the mandibular plane position.

[0016] According to a method for automatically planning an entry path for a robot provided by the present invention, in 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, and the positions of the maxillary plane and the mandibular plane, the method further includes: when the drill bit is at the second trajectory point, determining a first occlusal plane distance between the maxillary plane and the mandibular plane passing through the first trajectory point in the vertical direction; determining an inlet distance of the implant handpiece head based on the projection distance of the handpiece head in the vertical direction and the preset distance, wherein the handpiece head is the head of the implant handpiece; and determining an inlet angle of the drill bit of the implant handpiece based on the comparison result of the first occlusal plane distance and the inlet distance; wherein the direction of the drill bit corresponding to the inlet angle moves in a preset direction, and the preset direction has a preset angle with the direction of the target implant position.

[0017] According to a method for automatically planning an entry path for 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 entry 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, determining a second jaw plane distance between the maxillary plane and the mandibular plane passing through the current position point in the vertical direction based on the current position point of the drill bit; determining the intraoral 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 intraoral distance.

[0018] The present invention also provides a device for automatically planning an entry path for a robot, comprising the following modules:

[0019] The dental arch curve determination module is used to determine the patient's target implant site and the dental arch curve of the jawbone where the target implant site is located;

[0020] The first trajectory point determination module is used to determine the first trajectory point of the implant handpiece drill bit based on the dental arch curve and the target implant position.

[0021] The path determination module is used to determine the entry path of the drill bit to the target implant site based on the target implant site, the first trajectory point, and the dental arch curve on the side where the target implant site is located.

[0022] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method for automatically planning an entry path for a robot as described above.

[0023] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for automatically planning an entry path for a robot as described above.

[0024] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the method for automatically planning an entry path for a robot as described above.

[0025] The present invention provides a method, apparatus, device, and storage medium for automatically planning the entry path of a robot. This method determines the patient's target implant position and the dental arch curve of the jawbone where the target implant position is located. Based on the dental arch curve and the target implant position, it automatically determines the first trajectory point of the drill bit for the implant handpiece. According to the first trajectory point, the target implant position, and the dental arch curve on the side where the target implant position is located, it generates the robot entry path. Thus, by automatically generating the robot entry path using the dental arch curve, the target implant position, and the patient's characteristics, the method is independent of manual execution, simple to operate, and automated. Simultaneously, it avoids human error and improves the efficiency and speed of robot implantation. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0027] Figure 1 This is one of the flowcharts illustrating the method for automatically planning entry paths for robots provided by the present invention.

[0028] Figure 2 This is a second flowchart illustrating a method for automatically planning an entry path for a robot, according to one embodiment of the present invention.

[0029] Figure 3 This is a schematic diagram of the structure of the pre-entry path in the entry path provided by the present invention.

[0030] Figure 4 This is a schematic diagram of the intraoral motion path in the entry path provided by the present invention.

[0031] Figure 5This is a schematic diagram of the path between the target implant site and the third trajectory point in the entry path provided by the present invention.

[0032] Figure 6 This is a schematic diagram of the device for automatically planning the entry path of a robot provided by the present invention.

[0033] Figure 7 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0035] The following is combined with Figures 1-5 This invention describes a method for automatically planning an entry path using a robot. 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 point to the target implant site. This method is applicable to dental implants at any location. The execution entity of this method can be an electronic device or a robot-automated entry path planning method installed within that electronic device. The device for automatically planning the entry path using a robot can be implemented through software, hardware, or a combination of both.

[0036] Figure 1 This is one of the flowcharts illustrating the method for automatically planning entry paths for robots provided by the present invention, such as... Figure 1 As shown, it includes:

[0037] Step 101: Determine the patient's target implant site and the dental arch curve of the jawbone where the target implant site is located;

[0038] Step 102: Based on the dental arch curve and the target implant position, determine the first trajectory point of the drill bit for the implant handpiece;

[0039] Step 103: Based on the target implant site, the first trajectory point, and the dental arch curve on the side where the target implant site is located, determine the entry path of the drill bit to the target implant site.

[0040] In one implementation, after determining the arch curve on the side where the target implant site is located, to clarify the robot's entry path, a point where the drill tip approaches the arch curve can be identified, defined here as the first trajectory point. The robot is then controlled to move from any spatial point to this first trajectory point, and then automatically moves along the arch curve towards the vicinity of the target implant site, before being fine-tuned to the implant site, thus completing the robot's entry path. There are many methods for determining the first trajectory point; for example, it could be the point corresponding to the central incisor position on the arch curve moved upwards by a specific distance, or the point corresponding to the center of the arch curve moved outwards by a specific distance. This is not a limitation.

[0041] According to the method for automatically planning the entry path of a robot provided by the present invention, the step of determining the entry path of the drill bit to the target implant site based on the target implant site, a first trajectory point, and the dental arch curve on the side where the target implant site is located may further include: determining a second trajectory point of the drill bit based on the first trajectory point and the patient's feature information; and determining the entry path of the drill bit to the target implant site based on the first trajectory point, the second trajectory point, the target implant site, and the dental arch curve on the side where the target implant site is located.

[0042] In one implementation, after determining the dental arch curve on the side where the target implant is located and the first trajectory point of the drill tip, in order to ensure the safety of the patient, a second trajectory point can be determined outside the patient's mouth and at a certain safe distance from the dental arch curve. In this way, the robot can start moving into the patient's mouth from this trajectory point, which makes it easier to ensure the safety of the patient.

[0043] Figure 2 This is a second flowchart illustrating a method for automatically planning an entry path for a robot according to one embodiment of the present invention, as shown below. Figure 2 As shown, the method may include the following:

[0044] Step 201: Determine the patient's target implant site and the dental arch curve of the jawbone where the target implant site is located.

[0045] The dental arch curve refers to the curved shape formed by the teeth aligning on the upper and lower jawbones. The method for determining the dental arch curve can be any suitable value. For example, a dentist or dental technician can use calipers or a specialized dental measuring ruler to measure directly on a model of the patient's mouth or teeth; or, for example, use a 3D scanner to scan the patient's mouth.

[0046] It should be noted that the dental arch curve can be either the maxillary or mandibular arch curve. The arch formed by connecting the incisal endpoints of each tooth in the maxilla is called the maxillary dental arch curve, and the arch formed by connecting the incisal endpoints of each tooth in the mandible is called the mandibular dental arch curve. Here, the target implant is the tooth that the patient needs to have implanted, which can be a tooth in the maxilla and / or mandible. The number of target implants includes, but is not limited to, one or more.

[0047] Step 202: Based on the dental arch curve and the target implant position, determine the first trajectory point of the drill bit for the implant handpiece.

[0048] 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 planting mobile phone.

[0049] Here, the method for determining the first trajectory point of the implant handpiece drill can be any suitable value. For example, the first trajectory point can be determined based on the mapping relationship between the dental arch curve, the target implant position, and the implant handpiece drill; or, the dental arch curve can be moved, and the first trajectory point can be determined based on the moved dental arch curve.

[0050] For example, determining the first trajectory point of the implant handpiece drill bit based on the dental arch curve and the target implant position includes: determining the position point of the patient's central incisor on the dental arch curve where the target implant position is located; moving the dental arch curve vertically upward by a preset distance to obtain an upward dental arch curve; finding the upwardly moved central incisor position point on the upwardly moved dental arch curve corresponding to the central incisor position point; and determining the upwardly moved central incisor position point as the first trajectory point.

[0051] Here, the central incisor location refers to the tooth located in the middle of the upper / lower jaw teeth, also known as the front tooth.

[0052] It should be noted that when there are more than two central incisor locations, the central incisor location closest to the target implant site should be selected.

[0053] Here, the preset distance can be determined by the staff based on their experience and habits, or it can be determined based on the results of multiple experiments.

[0054] Here, the vertical direction refers to the direction from the feet to the head. The upward-moving dental arch curve has the same shape and size as the original dental arch curve.

[0055] In this embodiment of the invention, the trajectory point of the implant handpiece drill during its operation is automatically determined by the central incisor position point and the upward arch curve, thereby achieving automation and simplicity of machine implantation, avoiding human error, and improving the speed and efficiency of machine implantation.

[0056] Step 203: Based on the first trajectory point and the patient's feature information, determine the second trajectory point of the drill bit.

[0057] 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's movement.

[0058] For example, the feature information includes the patient's age and the patient's bone size. Determining the second trajectory point of the drill bit based on the first trajectory point and the patient's feature information includes: determining the extension length of the drill bit from the first trajectory point based on the patient's age and the patient's bone size; and determining the second trajectory point based on the normal direction of the first trajectory point on the upward dental arch curve and the extension length.

[0059] Here, the method for determining the extension length can be any suitable method, such as determining it based on the mapping relationship between the patient's age, bone size, and extension length; or it can be calculated using a formula.

[0060] 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 curve.

[0061] Specifically, after determining the first trajectory point, the distance between the first trajectory point and the second trajectory point is determined based on the patient's age and bone size; then, starting from the first trajectory point, the second trajectory point is obtained by moving along the normal direction on the upward dental arch curve of the first trajectory point.

[0062] In this embodiment of the invention, the extension length is determined based on the patient's age and bone size. The first trajectory point is moved along the normal direction on the upward dental arch curve by the extension length to obtain the second trajectory point. In this way, the automation and simplicity of machine implantation are achieved, avoiding human error and improving the speed and efficiency of machine implantation.

[0063] Of course, step 203 is not necessary. As long as the location of the first trajectory point is determined to be appropriate, the method of automatically planning the entry path can be completed using only the first trajectory point.

[0064] Step 204: 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, determine the entry path of the drill bit to the target implant position.

[0065] Here, the method for determining the entry path can be any suitable method. For example, the entry path can be obtained by sequentially connecting the first trajectory point, the second trajectory point, the dental arch curve on the side where the target implant is located, and the target implant. Alternatively, the entry path can be generated using a generative model based on the first trajectory point, the second trajectory point, the dental arch curve on the side where the target implant is located, and the target implant.

[0066] For example, determining the entry path of the drill bit to the target implant site based on the first trajectory point, the second trajectory point, the target implant site, and the dental arch curve on the side where the target implant site is located includes: finding a third trajectory point on the upward dental arch curve based on the target implant site; determining at least one coordinate point on the curve between the first trajectory point and the third trajectory point in the upward dental arch curve; and determining the entry path of the drill bit to the target implant site based on each of the coordinate points, the second trajectory point, the target implant site, and the dental arch curve on the side where the target implant site is located.

[0067] It should be noted that the third trajectory point can be the point on the upward arch curve that is closest to the target implant site, or a point whose distance from the target implant site meets a certain threshold.

[0068] It should be noted that the curve between the first and third trajectory points is a portion of the upward dental arch curve.

[0069] For example, after determining the first trajectory point, the second trajectory point, and the target implant position, a third trajectory point is found on the upward arch curve; then, at least one coordinate point is determined on the curve of the first trajectory point and the third trajectory point in the upward arch curve; and the coordinate points, the second trajectory point, and the target implant position are connected in sequence to obtain the entry path.

[0070] In this embodiment of the invention, the target path is determined by the third trajectory point, at least one coordinate point on the curve of the first trajectory point and the third trajectory point, and the target implant position. In this way, the automation and operation of machine implantation are realized, human error is avoided, and the speed and efficiency of machine implantation are improved.

[0071] For example, determining the entry path of the drill bit to the target implant site based on each of the coordinate points, the second trajectory point, the target implant site, and the dental arch curve on the side where the target implant site is located includes: sequentially connecting the second trajectory point, the first trajectory point, and the coordinate point to obtain a first path for the drill bit to move to the target implant site; determining the angular deviation and positional deviation between the target implant site and the third trajectory point based on the dental arch curve on the side where the target implant site is located; determining a second path between the target implant site and the third trajectory point based on the angular deviation and the positional deviation; and determining the entry path of the drill bit to the target implant site based on the first path and the second path.

[0072] It should be noted that the third trajectory point can be the point on the upward dental arch curve that is closest to the target implant position, or a point whose distance from the target implant position meets a certain threshold. Therefore, there are angular and positional deviations between the target implant position and the third trajectory point. Based on the angular and positional deviations, the second path between the target implant position and the third trajectory point is determined. Finally, the first and second paths are merged and connected to obtain the entry path.

[0073] Here, the methods for determining the angular and positional deviations between the target implant site and the third trajectory point include, but are not limited to, measuring with a professional machine or calculating with a formula.

[0074] For example, the method for determining the second path may be to divide it into multiple segments based on angular and positional deviations, with each segment changing a certain angle and / or position.

[0075] Here, the first path and the second path can be connected to obtain the entry path; alternatively, a generative model can be used to generate the entry path based on the first path and the second path.

[0076] In this embodiment of the invention, a first path is determined by a first trajectory point, a second trajectory point, and at least one coordinate point; a second path is determined based on the angular and positional deviations between the target implant position and the third trajectory point; and an entry path is determined based on the first and second paths. This improves the accuracy of machine implantation, automates and simplifies operation, avoids human error, and increases the speed and efficiency of machine implantation.

[0077] In another embodiment, determining the entry path of the drill bit to the target implant site based on the target implant site, the first trajectory point, and the dental arch curve on the side where the target implant site is located includes: determining the maxillary plane position and mandibular plane position of the patient at a preset mouth opening; and determining the entry path of the drill bit to the target implant site based on the target implant site, the first trajectory point, the dental arch curve on the side where the target implant site is located, and the maxillary plane position and the mandibular plane position.

[0078] Here, the methods for determining the maxillary and mandibular planes can be any suitable method. For example, a mouth opener can be used to ensure the patient's mouth opening remains constant, and multiple points (three or more) can be collected at protruding locations on the surfaces of the maxillary and mandibular teeth using a calibrated locator. Alternatively, other methods for acquiring the occlusal planes can be used, and the maxillary and mandibular planes can be generated based on the collected points. Another example is scanning the patient's maxillary or mandibular teeth with a scanner to obtain the specific and relative positions of the maxillary and mandibular planes.

[0079] It should be noted that, in addition to determining the entry path based on the first, second, and third trajectory points, the entry path for the drill to reach the target implant site can also be determined based on the target implant position, the first trajectory point, the dental arch curve on the side of the target implant position, and the maxillary and mandibular plane positions. The maxillary and mandibular plane positions are used to adjust the angle of the implant handpiece head as it enters and within the oral cavity, preventing the handpiece from hitting the teeth.

[0080] In another embodiment, determining the entry path of the drill bit to the target implant site based on the first trajectory point, the second trajectory point, the target implant site, and the dental arch curve on the side where the target implant site is located includes: determining the maxillary plane position and mandibular plane position of the patient under a preset mouth opening; and determining the entry path of the drill bit to the target implant site based on the target implant site, the first trajectory point, the second trajectory point, the dental arch curve on the side where the target implant site is located, and the maxillary plane position and the mandibular plane position.

[0081] It should be noted that, in addition to determining the entry path based on the target implant position, the first trajectory point, the dental arch curve on the side of the target implant position, and the positions of the maxillary and mandibular planes, the entry path can be further determined based on the target implant position, the first trajectory point, the second trajectory point, the dental arch curve on the side of the target implant position, and the positions of the maxillary and mandibular planes, thereby improving the accuracy of the entry path.

[0082] In this embodiment of the invention, by determining the patient's target implant site and the dental arch curve of the jawbone where the target implant site 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 implant site, the machine entry path is generated. In this way, the machine automatically generates the machine entry path according to the dental arch curve, the target implant site and the patient's characteristics, making the machine entry path generation method independent of manual execution, simple to operate and automated. At the same time, it avoids human error and improves the efficiency and speed of machine implantation.

[0083] Furthermore, the method for determining the entry path of the drill bit to the target implant site based on the first trajectory point, the second trajectory point, the target implant site, and the dental arch curve on the side where the target implant site is located, further includes:

[0084] When the drill bit is at the second trajectory point, determine the first jaw plane distance between the maxillary plane and the mandibular plane passing through the first trajectory point in the vertical direction;

[0085] Based on the projected distance of the implant handpiece head in the vertical direction and the preset distance, the inlet distance of the implant handpiece head is determined, wherein the drill head is the head of the implant handpiece containing the drill bit; based on the comparison result of the first jaw plane distance and the inlet distance, the inlet angle of the drill bit of the implant handpiece is determined; 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.

[0086] It should be noted that before the implant handpiece enters the oral cavity (i.e., when the handpiece drill bit is at the second trajectory point), it is necessary to ensure that the sum of the vertical projection distance of the handpiece head and the preset distance is less than the distance between the first and second jaw planes along the vertical direction passing through the first trajectory point when the patient opens their mouth, in order to avoid the handpiece hitting the teeth.

[0087] Here, the import distance can be the sum of the projected distance and the preset distance, or it can be a weighted sum of the projected distance and the preset distance.

[0088] It should be noted that when the distance to the first jaw plane is greater than or equal to the inlet distance, the inlet distance is not adjusted; when the distance to the first jaw plane is less than the inlet distance, the implant handpiece is rotated around the handle of the implant handpiece. If implanting an upper tooth, the drill bit is rotated downwards, and if implanting a lower tooth, the drill bit is rotated upwards, keeping the Z-axis of the handpiece unchanged, until the distance to the first jaw plane is equal to the inlet distance, and the inlet angle is obtained.

[0089] It should be noted that during the rotation of the implant handpiece, the drill bit is always generally oriented towards the target implant position.

[0090] 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 of the first occlusal plane with the entry distance. When the distance of the first occlusal plane is greater than or equal to the entry distance, the entry distance is not adjusted; when the distance of the first occlusal plane is less than the entry distance, the drill bit of the implant handpiece is rotated around the handle of the implant handpiece. If it is an implantation of an upper tooth, the drill bit is rotated downwards, and if it is an implantation of a lower tooth, the drill bit is rotated upwards, keeping the Z-axis of the handpiece unchanged, until the distance of the first occlusal plane is equal to the entry distance, and the entry angle is obtained.

[0091] In this embodiment of the invention, by comparing the inlet distance of the implant handpiece head with the distance to the jaw plane in the path before the entrance, the inlet angle of the implant handpiece drill bit is adjusted in a timely manner based on the comparison result. In this way, the collision between the implant handpiece drill bit and the teeth or other equipment is avoided in a timely manner, ensuring the reliability of the implant handpiece operation and improving the efficiency and speed of machine implantation.

[0092] Furthermore, after determining the inlet angle of the drill bit for the implant handpiece based on the comparison result of the first jaw plane distance and the inlet distance, the method further includes:

[0093] The drill bit of the implant handpiece is controlled to enter the oral cavity at the inlet angle;

[0094] During the movement of the drill bit along the inlet path, based on the location of the drill bit, a second jaw plane distance is determined between the maxillary plane and the mandibular plane passing through the current location point in the vertical direction;

[0095] The intraoral distance of the machine head in the oral cavity is determined based on the vertical projection distance of the machine head in the oral cavity and the preset distance;

[0096] The tilt angle of the drill bit is adjusted based on the second jaw plane distance and the intraoral distance.

[0097] Here, the import angle refers to the tilt angle of the implantation handpiece drill bit, and the intraoral distance of the head 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.

[0098] It is important to note that during the operation of the implant handpiece drill, it is also necessary to avoid contact with teeth or equipment. Therefore, during the operation of the implant handpiece drill, the intraoral distance of the implant handpiece head in the oral cavity and the distance to the second occlusal plane corresponding to the current position should be calculated in real time. When the intraoral distance of the implant handpiece head in the oral cavity is less than or equal to the distance to the second occlusal plane, the angle of the implant handpiece should not be adjusted. When the intraoral distance of the implant handpiece head in the oral cavity is greater than the distance to the second occlusal plane, the implant handpiece should be rotated away from the target implant position with the handle as the axis to avoid the implant handpiece contacting teeth or other equipment.

[0099] In this embodiment of the invention, the distance to the second jaw plane corresponding to the current position point is retrieved in real time from the intraoral movement trajectory, and the intraoral distance of the implant handpiece head corresponding to the current position point in the oral cavity is calculated. The intraoral distance of the handpiece head in the oral cavity is compared with the distance to the second jaw plane. Based on the comparison result, the inlet angle of the handpiece head is adjusted in time. In this way, the collision between the drill bit of the implant handpiece and the teeth or other equipment is avoided in time, ensuring the reliability of the implant handpiece operation and improving the efficiency and speed of machine implantation.

[0100] The first and second jaw plane distances mentioned above are related to the predetermined mouth opening. Once the positions of the maxillary and mandibular planes are determined, these distances are established. Therefore, when the drill reaches the corresponding position, the corresponding jaw plane distances can be retrieved for calculation and comparison. To ensure that the mouth opening at the robot's entry point is greater than or equal to the predetermined mouth opening when the positions of the maxillary and mandibular planes are determined, this can be achieved by using the same mouth opening device during surgery.

[0101] The following are specific application scenarios of the robot automatic entry path planning method provided by this invention.

[0102] Figure 3 This is a schematic diagram of the structure of the pre-entry path in the entry path provided by the present invention, as shown below. Figure 3 As shown, the target implant site is the patient's right lower first molar. The location of the central incisor closest to the target implant site is selected based on this location (e.g., ...). Figure 3 Position point A in the middle), according to the dental arch curve along the vertical direction from the foot to the head (e.g. Figure 3 Move the Z-direction upward by a certain distance l to obtain the upward-moving dental arch curve. Find the position point of the central incisor on the upward-moving dental arch curve, which corresponds to the position point of the central incisor, i.e., the first trajectory point (e.g., ...). Figure 3 The position point B in the middle is moved outward along the normal direction of point B on the upward dental arch curve by a length d, to obtain the second trajectory point (i.e., Figure 3 Point C in the diagram). Move the drill tip of the implanting mobile phone to the second trajectory point, i.e. Figure 3 In the context of point C, the paths from other points to point C are considered as the paths before the entry point. For example... Figure 3The path from position 1 to position 2 is shown in the diagram, with the drill tip of the implant handpiece located at point C. The drill tilt angle is determined based on the distance *h* between the maxillary and mandibular planes in the Z-direction (from foot to head) at position A, and the inlet distance *p*, which is the sum of the projected distance *m* and the upward movement distance *l* of the handpiece in the Z-direction. If *h* is less than *p*, the drill needs to be tilted to ensure that the height of the handpiece's projected height *m* and the sum of the upward movement distance *l* *p* is less than or equal to the distance *h* between the first jaw planes. The tilt direction is such that the drill is approximately facing the target implant site. The implant handpiece can rotate around the handle as an axis, and the drill position is finally stopped at position C before the inlet, ensuring that the handpiece does not collide with the tooth upon entry. The implant handpiece tilts to position 2, generating the corresponding path. In most cases, the implant handpiece does not need to be tilted because *p* is generally less than *h* at the inlet stage. In most cases, positions 1 and 2 coincide. Calculate the entry point B on the upward dental arch curve corresponding to the anterior tooth position point A, from the linear movement from position C before the entry point, i.e., the drill bit moving from position 2 to position 3, as the first part of the first path.

[0103] Figure 4 This is a schematic diagram of the intraoral motion path in the entry path provided by the present invention, as shown below. Figure 4 As shown, based on the point D on the upward arch curve where the central incisor position B and the final target implant position E are spatially closest, the curve between points B and D is separated into multiple coordinate points according to a specified length, while maintaining the implant handpiece handle (e.g. Figure 4 The direction of the Z-axis remains unchanged, and the drill moves sequentially along these coordinate points. During the movement, the angle of the handpiece is adjusted based on the distance *h* in the Z-direction between the maxillary and mandibular planes and the location of the implant handpiece, to prevent collisions between the handpiece and teeth or gums. Connecting these coordinate points generates the intraoral movement path, i.e., the path of the implant handpiece from position 3 to position 4, which is the second part of the first path. As the drill moves along the upward dental arch curve, it remains on the upward dental arch curve, while the handpiece drill gradually tilts to the right. During rotation and tilting, the Z-axis direction of the handpiece remains unchanged, as long as the angle between the handpiece Z-axis and the tangent of the upward dental arch curve where the handpiece drill tip is located is within a certain threshold range; otherwise, the handpiece handle may easily collide with the teeth.

[0104] Figure 5 This is a schematic diagram of the path between the target implant site and the third trajectory point in the entry path provided by the present invention, as shown in the figure. Figure 5As shown, after the implant handpiece drill tip moves along the upward arch curve to the point D on the curve corresponding to the target implant position E, which is the closest point in space to the implant site, the angle and positional deviation between the current implant handpiece and the planned implant position E can be calculated. The adjustment process can be divided into multiple steps. At each step, it is checked and ensured that the sum p of the handpiece head height and the upward movement distance l is less than or equal to the second occlusal plane distance h along the Z-direction from the mandibular plane to the maxillary plane at the current position (i.e., p ≤ h). This prevents the handpiece from impacting the teeth and gums. The adjustment can be divided into multiple segments based on the angle and positional deviation, with each segment changing a certain angle and / or position until it coincides with the planned target handpiece at the planned implant position. This generates the final position adjustment trajectory, i.e., the path of the handpiece from position 4 to position 5, which serves as the second path.

[0105] The apparatus for automatically planning the entry path of a robot provided by the present invention will be described below. The apparatus for automatically planning the entry path of a robot described below can be referred to in correspondence with the method for automatically planning the entry path of a robot described above.

[0106] Figure 6 This is a schematic diagram of the device for automatically planning the entry path of a robot provided by the present invention, as shown below. Figure 6 As shown, the device 500 for automatically planning the entrance path for the robot includes:

[0107] The dental arch curve determination module 501 is used to determine the patient's target implant site and the dental arch curve of the jawbone where the target implant site is located;

[0108] The first trajectory point determination module 502 is used to determine the first trajectory point of the drill bit of the implant handpiece based on the dental arch curve and the target implant position.

[0109] The path determination module 503 is used to determine the entry path of the drill bit to the target implant site based on the target implant site, the first trajectory point, and the dental arch curve on the side where the target implant site is located.

[0110] In some embodiments, the path determination module 503 is specifically used to: determine the second trajectory point of the drill bit based on the first trajectory point and the characteristic information of the patient; and determine the entry path of the drill bit to the target implant site based on the first trajectory point, the second trajectory point, the target implant site, and the dental arch curve on the side where the target implant site is located.

[0111] In some embodiments, the first trajectory point determination module 502 is specifically used to: determine the position point of the patient's central incisor on the dental arch curve where the target implant site is located; move the dental arch curve up a preset distance in the vertical direction to obtain an upward dental arch curve; find the upwardly moved central incisor position point on the upwardly moved dental arch curve that corresponds to the central incisor position point; and determine the upwardly moved central incisor position point as the first trajectory point.

[0112] In some embodiments, the path determination module 503 is further configured to: determine the extension length of the implant handpiece drill bit from the first trajectory point based on the patient's age and the patient's bone size; and determine the second trajectory point based on the normal direction of the first trajectory point on the upward dental arch curve and the extension length.

[0113] In some embodiments, the path determination module 503 is further configured to: locate a third trajectory point on the upward dental arch curve based on the target implant position; determine at least one coordinate point on the curve between the first trajectory point and the third trajectory point in the upward dental arch curve; and determine the entry path for the drill bit to move to the target implant position based on each of the coordinate points, the second trajectory point, the target implant position, and the dental arch curve on the side where the target implant position is located.

[0114] In some embodiments, the path determination module 503 is further configured to: sequentially connect the second trajectory point, the first trajectory point, and the coordinate point to obtain a first path for the drill bit to move to the target implant site; determine the angular deviation and positional deviation between the target implant site and the third trajectory point based on the dental arch curve on the side where the target implant site is located; determine a second path between the target implant site and the third trajectory point based on the angular deviation and the positional deviation; and determine the entry path for the drill bit to move to the target implant site based on the first path and the second path.

[0115] In some embodiments, the path determination module 503 is further specifically used to: determine the maxillary plane position and mandibular plane position of the patient under a preset mouth opening; and determine the entry path of the drill bit 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, and the maxillary plane position and mandibular plane position.

[0116] In some embodiments, the path determination module 503 is further specifically used to: determine the maxillary plane position and mandibular plane position of the patient under a preset mouth opening; and determine the entry path of the drill bit 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, and the maxillary plane position and mandibular plane position.

[0117] In some embodiments, the path determination module 503 is further configured to: determine a first jaw plane distance between the maxillary plane and the mandibular plane passing through the first track point in the vertical direction when the drill bit is at the second trajectory point; determine the inlet distance of the implant handpiece head based on the projection distance of the handpiece head in the vertical direction and the preset distance, wherein the handpiece head is the head of the implant handpiece; and determine 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 is towards the target implant position.

[0118] In some embodiments, after determining the inlet angle of the implant handpiece drill bit based on the comparison result of the first jaw plane distance and the inlet distance, the robot automatically planning the inlet path device 500 includes an adjustment module, specifically used for: controlling the drill bit to enter the oral cavity at the inlet angle; determining a second jaw plane distance between the maxillary plane and the mandibular plane passing through the current position point in the vertical direction based on the current position point of the drill bit during the movement of the drill bit along the inlet path; determining the intraoral 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 intraoral distance.

[0119] Figure 7 This is a schematic diagram of the structure of the electronic device provided by the present invention, such as... Figure 7As shown, the electronic device may include a processor 610, a communications interface 620, a memory 630, and a communication bus 640, wherein the processor 610, communications interface 620, and memory 630 communicate with each other via the communication bus 640. The processor 610 can call logical instructions in the memory 630 to execute a method for automatically planning an entry path for a robot. This method includes: determining the patient's target implant site and the dental arch curve of the jawbone where the target implant site is located; determining a first trajectory point of the drill bit for the implant handpiece based on the dental arch curve and the target implant site; and determining an entry path for the drill bit to move to the target implant site based on the target implant site, the first trajectory point, and the dental arch curve on the side where the target implant site is located.

[0120] Furthermore, the logical instructions in the aforementioned memory 630 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the 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 to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0121] On the other hand, the present invention also provides a computer program product, the computer program product including a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is able to execute the robot automatic entry path planning method provided by the above methods. The method includes: determining the patient's target implant position and the dental arch curve of the jawbone where the target implant position is located; determining a first trajectory point of the drill bit of the implant handpiece based on the dental arch curve and the target implant position; and determining the entry path of the drill bit 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.

[0122] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a method for automatically planning an entry path for a robot provided by the methods described above. The method includes: determining a target implant site for a patient and the dental arch curve of the jawbone where the target implant site is located; determining a first trajectory point of a drill bit for an implant handpiece based on the dental arch curve and the target implant site; and determining an entry path for the drill bit to move to the target implant site based on the target implant site, the first trajectory point, and the dental arch curve on the side where the target implant site is located.

[0123] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0124] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, 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. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0125] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method of robotically automatically planning an entry path, characterized by, The method comprises the following steps: determining a target implant site of a patient and an arch curve of a jaw bone where the target implant site is located; determining a central incisor position point of the patient on the arch curve where the target implant site is located; moving the arch curve upward by a preset distance to obtain an upwardly moved arch curve; finding an upwardly moved central incisor position point corresponding to the central incisor position point on the upwardly moved arch curve; determining the upwardly moved central incisor position point as a first trajectory point; determining an entry path of a drill bit moving to the target implant site based on the target implant site, the first trajectory point and the arch curve of the side where the target implant site is located; wherein the sum of the projection distance of the head of the implant handpiece of the robot and the upwardly moved preset distance is less than the first jaw plane distance between the upper jaw plane position and the lower jaw plane position of the patient at a preset mouth opening degree when the robot enters along the first trajectory point.

2. The method of claim 1, wherein, The method of determining the entry path of the drill bit moving to the target implant site based on the target implant site, the first trajectory point and the arch curve of the side where the target implant site is located comprises: determining a second trajectory point of the drill bit based on the first trajectory point and the feature information of the patient; determining the entry path of the drill bit moving to the target implant site based on the first trajectory point, the second trajectory point, the target implant site and the arch curve of the side where the target implant site is located.

3. The method of claim 2, wherein, The feature information comprises the age of the patient and the bone size of the patient, and the method of determining the second trajectory point of the drill bit based on the first trajectory point and the feature information of the patient comprises: 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; determining the second trajectory point based on the normal direction of the first trajectory point on the upwardly moved arch curve and the extension length.

4. The method of claim 2, wherein, The method of determining the entry path of the drill bit moving to the target implant site based on the first trajectory point, the second trajectory point, the target implant site and the arch curve of the side where the target implant site is located comprises: finding a third trajectory point on the upwardly moved arch curve based on the target implant site; determining at least one coordinate point on the curve between the first trajectory point and the third trajectory point in the upwardly moved arch curve; determining the entry path of the drill bit moving to the target implant site based on each coordinate point, the second trajectory point, the target implant site and the arch curve of the side where the target implant site is located.

5. The method of robotically automatically planning an entry path of claim 4, wherein, The method of determining the entry path of the drill bit moving to the target implant site based on each coordinate point, the second trajectory point, the target implant site and the arch curve of the side where the target implant site is located comprises: connecting the second trajectory point, the first trajectory point and the coordinate points in sequence to obtain a first path of the drill bit moving to the target implant site; determining the angle deviation and the position deviation between the target implant site and the third trajectory point based on the arch curve of the side where the target implant site is located; determine a second path between the target implant site and the third trajectory point based on the angle deviation and the position deviation; determine an entry path of the drill bit moving to the target implant site based on the first path and the second path.

6. The method of robotically automatically planning an entry path of claim 1, wherein, The determination of the entry path of the drill bit moving to the target implant site based on the target implant site, the first trajectory point, and the dental arch curve of the side where the target implant site is located comprises: determine the upper jaw plane position and the lower jaw plane position of the patient under a preset mouth opening degree; determine the entry path of the drill bit moving to the target implant site based on the target implant site, the first trajectory point, the dental arch curve of the side where the target implant site is located, and the upper jaw plane position and the lower jaw plane position.

7. The method of robotically automatically planning an entry path according to any of claims 4-6, wherein, The determination of the entry path of the drill bit moving to the target implant site based on the first trajectory point, the second trajectory point, the target implant site, and the dental arch curve of the side where the target implant site is located comprises: determine the upper jaw plane position and the lower jaw plane position of the patient under a preset mouth opening degree; determine the entry path of the drill bit moving to the target implant site based on the target implant site, the first trajectory point, the second trajectory point, the dental arch curve of the side where the target implant site is located, and the upper jaw plane position and the lower jaw plane position.

8. The method of robotically planning an entry path of claim 7, wherein, The determination of the entry path of the drill bit moving to the target implant site based on the target implant site, the first trajectory point, the second trajectory point, the dental arch curve of the side where the target implant site is located, and the upper jaw plane position and the lower jaw plane position further comprises: determine a first jaw plane distance between the upper jaw plane and the lower jaw plane passing through the first trajectory point in the vertical direction when the drill bit is at the second trajectory point; determine an entry distance of a handpiece of the implant mobile phone based on the projection distance of the handpiece of the implant mobile phone in the vertical direction and the preset distance of upward movement, the handpiece being a head of the implant mobile phone; determine an entry angle of a drill needle of the implant mobile phone based on a comparison result of the first jaw plane distance and the entry distance, the entry angle corresponding to a direction of the drill bit moving towards a preset direction, the preset direction having a preset angle with a direction of the target implant site.

9. The method of robotically automatically planning an entry path of claim 8, wherein, After the determination of the entry angle of the drill needle of the implant mobile phone based on the comparison result of the first jaw plane distance and the entry distance, the method further comprises: control the drill needle to enter the oral cavity at the entry angle; determine a second jaw plane distance between the upper jaw plane and the lower jaw plane passing through a current position point of the drill bit in the vertical direction during the movement of the drill bit along the entry path; determine an intraoral distance of the handpiece in the oral cavity based on the projection distance of the handpiece in the oral cavity in the vertical direction and the preset distance of upward movement; adjust an inclination angle of the drill needle based on the second jaw plane distance and the intraoral distance.

10. An apparatus for a robot to automatically plan an entry path, characterized by, comprise: The dental arch curve determination module is configured to determine a target implant site of a patient and a dental arch curve of a jaw bone where the target implant site is located. The first trajectory point determination module is configured to determine a central incisor position point of the patient on the dental arch curve where the target implant site is located; move the dental arch curve upward by a preset distance to obtain an upwardly moved dental arch curve; find an upwardly moved central incisor position point corresponding to the central incisor position point on the upwardly moved dental arch curve; and determine the upwardly moved central incisor position point as the first trajectory point. The path determination module is configured to determine an entry path of a drill bit moving to the target implant site based on the target implant site, the first trajectory point, and a dental arch curve of a side where the target implant site is located; and when the robot enters along the first trajectory point, a sum of a projection distance of a handpiece of an implant hand of the robot and the preset distance is less than a first jaw plane distance between an upper jaw plane position and a lower jaw plane position of the patient at a preset mouth opening degree.

11. An electronic device comprising a memory, a processor, and a computer program stored on the memory and running on the processor, characterized in that, The computer program is executed by the processor to implement the method for automatically planning an entry path of a robot according to any one of claims 1 to 9.

12. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the method for automatically planning an entry path of a robot according to any one of claims 1 to 9.

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