Surgical path planning method and device, storage medium and automatic dental implant system

Abstract

The disclosure provides a surgical path planning method and device, a storage medium and an automatic dental implant system, and relates to the technical field of oral treatment equipment, and aims to plan a surgical path. The surgical path planning method comprises the following steps: obtaining a recording path by using a recording device; wherein the recording path passes through a recording area corresponding to a plurality of implantation points to be operated; in response to an instruction of a path of a target implantation point, a planning path of a surgical instrument from a current position to the target implantation point is determined; wherein the planning path at least partially passes through the recording path.

Description

Technical Field

[0001] This disclosure relates to the field of oral treatment equipment technology, and in particular to a surgical path planning method, device, storage medium and automated dental implant system. Background Technology

[0002] In recent years, with the rapid development of computer technology, dental implant surgery has gradually become more intelligent and modernized. Dental implant robots have advantages such as precision, flexibility, and minimal invasiveness, which facilitates the precision of implant surgery and can provide key technical support for dental implant surgery.

[0003] In related technologies, during dental implant surgery using a robotic implant system, to avoid collisions between the drill and the patient's tissues, it is usually necessary to control the robotic arm to move the drill along a reasonable surgical path. Therefore, how to plan the surgical path is one of the urgent problems to be solved. Summary of the Invention

[0004] This disclosure presents a surgical path planning method, device, storage medium, and automated dental implant system for planning surgical paths.

[0005] In a first aspect, this disclosure provides a surgical path planning method, comprising: obtaining and saving a recorded path using a recording device; wherein the recorded path passes through recording areas corresponding to multiple implantation sites to be operated on; in response to an instruction to plan a path for a target implantation site, determining a planned path for the surgical instrument to reach the target implantation site from its current position; wherein the planned path for the target implantation site passes at least partially through the recorded path; and the target implantation site is any one of multiple implantation sites to be operated on.

[0006] Secondly, this disclosure provides a surgical path planning device, comprising: an acquisition unit, configured to acquire and save a recorded path using a recording device; wherein the recorded path passes through recording areas corresponding to multiple implantation sites to be operated on; and a first determination unit, configured to determine, in response to an instruction to plan a path for a target implantation site, a planned path for the surgical instrument to reach the target implantation site from its current position; wherein the planned path for the target implantation site passes through the recorded path.

[0007] Thirdly, this disclosure provides an electronic device, including:

[0008] One or more processors;

[0009] A memory that is communicatively connected to the one or more processors;

[0010] One or more computer programs, wherein the one or more computer programs are stored in the memory, and when the one or more computer programs are executed by the electronic device, cause the electronic device to perform the method provided in the first aspect above.

[0011] Fourthly, this disclosure provides a computer-readable storage medium storing computer instructions that, when executed on a computer, cause the computer to perform the method provided in the first aspect.

[0012] Fifthly, this disclosure provides an automated dental implant system, including: an oral implant robot and a surgical path planning device as described above; wherein, the oral implant robot controls surgical instruments to move to the starting position of the target implant site to perform surgical operations according to the planned path of the target implant site provided by the surgical path planning device.

[0013] The embodiments disclosed herein can automatically plan the surgical path, which helps to lower the barrier to entry for using dental implant robots and improve surgical efficiency.

[0014] Other features and aspects of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0015] Figure 1 A schematic diagram illustrating an application scenario of a surgical path planning method provided as an exemplary embodiment;

[0016] Figure 2 A flowchart illustrating a surgical path planning method provided as an exemplary embodiment;

[0017] Figure 3 A schematic diagram of a recording path provided for an exemplary embodiment;

[0018] Figure 4 A schematic diagram of a recording path provided for another exemplary embodiment;

[0019] Figure 5 A structural block diagram of a surgical path planning device provided as an exemplary embodiment;

[0020] Figure 6 A schematic diagram of an electronic device provided as an exemplary embodiment. Detailed Implementation

[0021] The present disclosure will now be described in further detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise.

[0022] Furthermore, to better illustrate this disclosure, numerous specific details are set forth in the following detailed description. Those skilled in the art will understand that this disclosure can be practiced without certain specific details. In some instances, methods, means, components, and circuits well known to those skilled in the art have not been described in detail in order to highlight the main points of this disclosure.

[0023] In related technologies, dental implant robots themselves cannot effectively plan surgical pathways; they typically rely on the personal experience of the surgeon using the robot, resulting in a high barrier to entry for their use. Furthermore, the procedure often involves multiple drill entry and exit points, leading to lower surgical efficiency.

[0024] To overcome at least one of the aforementioned problems, this embodiment provides a surgical path planning method that can obtain a planned path to the selected implantation site based on the recorded path and the current position of the surgical instruments. This planned path at least partially passes through the recorded path, thereby achieving automatic surgical path planning and lowering the barrier to entry for using dental implant robots. Furthermore, when the drill bit is currently located intraorally, the selected implantation site is also located intraorally, and the portion of the recorded path passing through the recording area of ​​that implantation site is also intraorally. Therefore, the planned path obtained based on these sites is also intraorally located. Thus, this embodiment can use the same drill bit to accurately move to the starting position of multiple implantation sites one by one intraorally, eliminating the need for multiple exit and re-entry procedures with the same drill bit, thereby saving exit and re-entry time and improving surgical efficiency.

[0025] To facilitate understanding, the application scenario of this embodiment will be explained below. Please refer to... Figure 1The application scenario of this embodiment includes an oral implant robot 100, a first visual marker 130, a second visual marker 200, a visual positioning and navigation device 300, and a surgical path planning device 400. The oral implant robot includes a robotic arm 110, with a mobile terminal 120 mounted on the end of the robotic arm 110 facing the patient's mouth. The mobile terminal 120 is equipped with surgical instruments and the first visual marker 130. The surgical instruments include, but are not limited to, drill bits. The oral implant robot 100 can control the robotic arm 110 to move the surgical instruments along the planned path provided by the surgical path planning device 400. The second visual marker 200 is installed at a preset position inside the patient's mouth, serving as a position reference. The visual positioning and navigation device 300 is used to track the first visual marker 130 and the second visual marker 200 in real time. The visual positioning and navigation device 300 can determine the relative positional relationship between the mobile terminal 120 and the preset position in the patient's oral cavity based on the information of the tracking second visual marker 200 and the first visual marker 130, and then determine the relative positional relationship between the drill bit and the implantation point in the patient's oral cavity, and send it to the surgical path planning device 400.

[0026] The surgical path planning device is the main implementer of the surgical path planning method. The surgical path planning device can be part of a dental implant robot, such as a functional module or entity within the robot's control system. Alternatively, the surgical planning device can be an electronic device that communicates with the dental implant robot. Or, the surgical planning device can also be a functional module or entity within an electronic device.

[0027] Electronic devices include, but are not limited to: tablet computers (portable Android devices, PADs), personal digital assistants (PDAs), handheld devices with wireless communication capabilities, computers, and wireless terminals in remote medical care.

[0028] It is understood that the application scenarios of the surgical path planning method provided in this embodiment are not limited to this; this embodiment is merely an example.

[0029] Figure 2 This is a flowchart of surgical path planning according to an embodiment of the present disclosure. Please refer to... Figure 2 The surgical path planning in this embodiment includes the following steps S210 to S220.

[0030] Step S210: Obtain and save the recording path using a recording device; wherein the recording path passes through the recording areas corresponding to multiple implantation sites to be operated on.

[0031] Step S220: In response to the instruction to plan the path of the target implantation site, determine the planned path for the surgical instruments to reach the target implantation site from the current position; wherein the planned path at least partially passes through the recorded path; the target implantation site is any one of a plurality of implantation sites to be operated on.

[0032] In step S210, the surgical path planning device is communicatively connected to the recording device. The recording device can be a surgical navigation and positioning device or other electronic equipment, as long as it can perform its corresponding functions. The recording device pre-records the path of the surgical instrument movement as a recording path, obtained by the user (e.g., a doctor) moving the surgical robot's end effector into or out of the patient's mouth through drag-and-drop teaching. The surgical path planning device receives and saves the recording path sent by the recording device.

[0033] Alternatively, the surgical path planning device itself integrates a recording device that can record and save the path of the surgical instruments as the user manually drags the end effector of the dental implant robot.

[0034] Optionally, to reduce computational complexity, the recording path can specifically be the path of the surgical instrument moving between preset implantation points inside the mouth and preset points outside the mouth. Furthermore, the recording path passes through the recording areas of multiple implantation points to be operated on. For example, if the recording path starts from a preset implantation point, then the starting point of the recording path can serve as the anchor point of the preset implantation point.

[0035] In other examples, the recording path can also be a path of movement between nearby points and preset points outside the opening. Nearby points can be located within the recording area of ​​the preset planting point. Nearby points are points near the preset planting point, and the distance between the nearby points and the preset planting point is small.

[0036] Surgical instruments may include drills, oral forceps, or oral scissors, etc. The following explanation will use drills as an example. Accordingly, surgical procedures performed with drills can be drilling operations, used to prepare implantation cavities at the implantation site.

[0037] Pre-set implant sites can be the most distal implant sites among multiple sites to be used in the surgery, making it easier to calculate the planning paths for multiple implant sites later. For example, if all implant sites in this surgery are located in the patient's mandible, the pre-set implant site can be the implant site furthest from the patient's central incisors.

[0038] The pre-set implant placement outside the mouth can be located in an area outside the mouth and relatively far from the pre-set implant placement; or, the pre-set implant placement outside the mouth can be located in an area outside the mouth and relatively close to the area corresponding to the central incisors.

[0039] The pre-set implantation sites inside and outside the mouth can be set according to actual needs. Specifically, they can be pre-set by the user or by the surgical path planning device.

[0040] The number of implantation sites traversed by the recording path can be set according to the implantation sites in this surgery. For example, the recording path passes through all the implantation sites in this surgery. For instance, in a scenario requiring drill bit replacement, if there are three implantation sites (A1, B1, and C1) before the replacement drill bit needs surgical operation, and the subsequent drill bit replacement requires surgical operation at no more than these three sites, then the total number of implantation sites in this surgery is 3, and the recording path can pass through these three implantation sites A1, B1, and C1. Figure 3 As shown; where A1 can be used as the preset planting point.

[0041] For example, such as Figure 4 As shown, there are four implantation sites in this surgery: A2, B2, C2, and D2. The recording path can pass through A2, B2, C2, and D2. A2 and B2 are located in one dental region, while C2 and D2 are located in another. All four sites (A2, B2, C2, and D2) are located in the mandible. A2, located distally on one side, can be used as the preset implantation site. In other examples, D2, located distally on the other side, can also be used as the preset implantation site.

[0042] The recording area for the implantation site can be the space near the implantation site. For example, the recording area for the implantation site can be a space with a semi-circular, fan-shaped, rectangular, triangular, or irregular shape, and the cross-section is a section perpendicular to the implant axis at that implantation site. Optionally, there can be a one-to-one correspondence between implantation sites and recording areas. The recording area for the implantation site can be located above the implantation site.

[0043] It is understandable that the shape of the cross-section of the recording area and the specific range of the recording area can be set according to actual needs.

[0044] In some examples, the recording process begins by identifying the implantation sites where surgery will be performed.

[0045] Secondly, the user drags the end effector of the dental implant robot to bring the drill to the appropriate position in the patient's mouth. Optionally, the user can drag the end effector based on visual feedback to precisely position the drill at the pre-planned starting position of the implantation site, or the control system can automatically adjust the drill to the starting position of the pre-planned implantation site using the end effector of the robotic arm. In other examples, the drill can also be positioned near or above the pre-planned implantation site.

[0046] Finally, the recording function is activated. The user drags the end effector of the dental implant robot through teaching methods, causing the drill bit to pass through the recording areas corresponding to multiple implantation sites to be operated on, and reach the appropriate position at the preset extraoral site. The path recording function is then deactivated, and the obtained drill bit movement trajectory is saved as the recording path. The recording path includes the drill bit's position information and movement direction information. Therefore, the recording path can include the path of the drill bit from the preset implantation site inside the mouth to the preset extraoral site.

[0047] In some examples, the recording path is based on the position and direction of the drill bit tip, so the recording path is a set of drill bit tip poses, and thus the same recording path can be used for drill bits of different lengths.

[0048] During recording, the tip of the drill should sweep across the recording area of ​​multiple implantation sites as much as possible. While ensuring safety, the tip of the drill can be kept relatively close to the implantation sites. Optionally, the tip of the drill should sweep over all implantation sites required for the procedure.

[0049] In other examples, the recording path may also include the path of the drill bit from a preset point outside the mouth to a preset planting point inside the mouth.

[0050] The number of recording paths can be set according to the distribution of implant sites. When multiple implant sites to be operated on are distributed across multiple target tooth regions, the number of recording paths can be less than or equal to the number of target tooth regions. A target tooth region is the tooth region containing the implant sites to be operated on.

[0051] Conventionally, the dentition can be divided into four zones, which can be referred to as the upper right zone, upper left zone, lower left zone, and lower right zone (or zones 1, 2, 3, and 4).

[0052] In some scenarios, the number of target tooth regions for this surgery can be determined, and the number of recording paths can be equal to the number of target tooth regions. For example, if some implant sites are located in the upper right region and others in the lower right region, then the number of target tooth regions for this surgery is 2, and correspondingly, the number of recording paths is 2. One recording path passes through the recording area of ​​the implant sites located in the upper right region, and the other recording path passes through the recording area of ​​the implant sites located in the lower right region.

[0053] In other scenarios, to further improve efficiency and facilitate subsequent calculations, when multiple implant sites are distributed across multiple target tooth regions, if two target tooth regions are located in the maxilla, these two regions can correspond to one recording path; similarly, if two target tooth regions are located in the mandible, these two regions can correspond to one recording path. For example, if all target tooth regions are located in the mandible, the number of recording paths can be 1; if all target tooth regions are located in the maxilla, the number of recording paths can be 1; if some target tooth regions are located in the maxilla and others in the mandible, the number of recording paths can be 2. In other scenarios, when implant sites are distributed in both the maxilla and mandible, each can also correspond to a single recording path.

[0054] For example, such as Figure 4 As shown, the implantation sites A2 and B2 in this surgery are located in the lower left region, and the implantation sites C2 and D2 are located in the lower right region. Since all the implantation sites in this surgery are located in the mandible, the number of recording paths can be 1, and this recording path passes through the recording areas of A2, B2, C2, and D2.

[0055] In step S220, in response to the user's instruction to select a planting point, the planting point selected by the user from multiple planting points can be used as the target planting point. In response to the instruction to plan a path to the target planting point, the current position of the drill bit and the starting position of the target planting point can be obtained. Several intermediate points are planned between the current position of the drill bit and the starting position of the target planting point. The current position of the drill bit, the starting position of the target planting point, and the planned intermediate points are then joined together to obtain the planned path to the target planting point. Here, the current position of the drill bit refers to the current position of the drill bit tip.

[0056] The planned path indicates the relative position of the drill bit with respect to the jawbone where the implant site is located; that is, the drill bit and the patient's jawbone move in tandem. When the drill bit travels from its current position to the starting position of the target implant site based on the planned path, the planned path for that target implant site at least partially follows the recorded path. When the drill bit's current position is intraoral, the planned path for the target implant site is an intraoral path from the drill bit's current position to the starting position of the target implant site; the intraoral path can be understood as the path traveled within the mouth.

[0057] For example, the surgical path planning device can provide an interactive interface through which the user can select the implantation site. After the user selects the implantation site, the surgical path planning device can display a pop-up window prompting the user to plan a path for the selected implantation site. If the device receives confirmation from the user, it will begin planning the path for the target implantation site, thereby avoiding path planning triggered by factors such as accidental touches by the user.

[0058] In other examples, the surgical path planning device can also automatically plan a path for the target implantation site after the user selects the implantation site.

[0059] The surgical path planning method provided in this embodiment acquires a recorded path and plans the path from the current position of the drill bit to the starting position of the selected target implantation point based on the starting position of the implantation point and the current position of the drill bit. This path at least partially passes through the recorded path, resulting in a planned path to the target implantation point. This achieves automatic surgical path planning, which helps to lower the barrier to entry for using dental implant robots. In scenarios with multiple implantation points, this surgical path planning method can guide the same drill bit to move precisely to the starting positions of multiple implantation points in the mouth to drill holes one by one. This reduces the need for multiple exit and re-entry operations of the drill bit, thereby saving exit and re-entry time and improving surgical efficiency.

[0060] In some embodiments, before step S220, which determines the planned path for the surgical instrument to reach the target implantation site from its current position, the method further includes: determining anchor points for multiple intraoral implantation sites to be operated on based on the recorded path. Accordingly, step S220 specifically includes: determining the planned path for the surgical instrument to reach the target implantation site based on the anchor points of the target implantation site, the current position of the surgical instrument, and the starting position of the target implantation site.

[0061] Anchor points are key points in path planning, typically points that must be traversed or control points set for path smoothing. Anchor points for planting locations are points that must be traversed to reach that planting location.

[0062] Optionally, to improve the flexibility of path planning, each planting point can have a corresponding anchor point that must be traversed. In other examples, multiple anchor points can also be set for each planting point to facilitate obstacle avoidance or other purposes.

[0063] After obtaining the recording path, anchor points for multiple planting points along the recording path can be determined. For example, the point on the recording path closest to the starting position of a planting point can be used as the anchor point for that planting point.

[0064] This allows for the determination of anchor points for each planting location along the recording path; or, it allows for the determination of anchor points for all other planting locations along the recording path besides the preset planting locations.

[0065] In step S220, the current position of the drill bit, the anchor point of the target planting point, and the starting position of the target planting point can be obtained; several intermediate points are planned between the current position of the drill bit and the anchor point of the target planting point, wherein at least some of the intermediate points are distributed along the recording path; several intermediate points are planned between the anchor point of the target planting point and the starting position of the target planting point; the anchor point of the target planting point, the current position of the drill bit, the starting position of the target planting point, and the above-planned intermediate points are stitched together to obtain the planned path to the target planting point.

[0066] Specifically, for the sub-path from the current position of the drill bit to the anchor point of the target planting location, at least a portion of this sub-path passes through the recorded path. If the current position of the drill bit does not pass through the recorded path, then a portion of the sub-path is not in the recorded path, and another portion passes through the recorded path. If the current position of the drill bit passes through the recorded path, then the sub-path passes through the recorded path.

[0067] In some embodiments, determining the anchor point for the implantation site to be operated on includes:

[0068] Step a10: Obtain the starting position of the implantation site to be operated on, and obtain the position information of at least one trajectory point in the recorded path that corresponds to the implantation site to be operated on.

[0069] Step a20: Determine the Euclidean distance between each trajectory point corresponding to the implantation point to be operated on and the starting position;

[0070] Step a30: Determine the minimum distance from the obtained Euclidean distances, and use the trajectory point corresponding to the minimum distance as the anchor point of the implantation site to be operated on.

[0071] In step a10, the starting position of the implantation site specifically refers to the position of the roving end and the drill bit as a whole before the drill bit is inserted. The starting position of the implantation site must meet the following conditions: the axis of the drill bit is directly aligned with the planned implant position, and the drill bit and roving end will not touch the gums, teeth, or bone of the jaw and face. The starting position of the implantation site can also be called the zero point position of the implantation site.

[0072] The starting position of the implantation site can be predetermined. For example, after determining the implantation site to be operated on and planning the implant for the site, the starting position of the implantation site can be determined and saved.

[0073] Obtain the positional information of one or more trajectory points in the recorded path corresponding to the implantation site to be operated on. The recorded path may include a series of discrete pose information. The positional information of the trajectory points of the implantation site can be determined based on the pose information corresponding to the implantation site in the recorded path.

[0074] For example, the location information of each point in the recorded path can be used as the location information of the trajectory point corresponding to one of the implantation sites to be operated on.

[0075] For example, the recording path can be divided into multiple curve segments based on the distribution of implant points, with each implant point corresponding to one curve segment. The line segment corresponding to each implant point can be extracted to obtain the location information of the trajectory point. When segmenting the recording path, it can be based on the number of dental regions traversed by the path; the number of curve segments can be equal to the number of dental regions traversed by the recording path. In other examples, the recording path can be divided into three or more segments as needed. The specific number of curve segments can be set according to actual requirements.

[0076] For example, the portion of the recording area located at the planting point in the recording path can be extracted to obtain the location information of the trajectory point corresponding to the planting point.

[0077] In steps a20 and a30, the Euclidean distance between the trajectory point corresponding to the planting point and the starting position of the planting point is calculated. The trajectory point with the smallest Euclidean distance to the planting point is taken as the anchor point of the planting point. Specifically, the anchor point of the planting point can be determined according to the following formula (I):

[0078]

[0079] Where, p plan is the starting position of the planting point p; Traj is a series of discrete pose information in the recording path; p i It is the position of the i-th trajectory point corresponding to the planting point p; p anchor It is the anchor point of the planting point p.

[0080] like Figure 3 As shown, the anchor point B of planting point B1 can be obtained through the above steps. 1anchor Anchor point C of planting site C1 1anchor .

[0081] like Figure 4 As shown, the anchor point A of planting point A2 can be obtained through the above steps. 2anchor Anchor point B of planting site B2 2anchor Anchor point C of planting site C2 2anchor Anchor point D of planting site D2 2anchor .

[0082] Optionally, the anchor point of the preset planting point can coincide with the starting position of the preset planting point.

[0083] exist Figure 4In the recording, since the preset planting point A2 is the end point of the recording path, its closest point to the recording path is the anchor point A. 2anchor This is equivalent to coinciding with the starting position of A2.

[0084] For the preset implantation site, the part of the recorded path from the preset point outside the mouth to the starting position of the preset implantation site can be used as the planned path of the preset implantation site. During the operation, in response to the instruction to select the preset implantation site for the operation, the oral implantation robot can directly execute the recorded path, causing the drill to move from the preset point outside the mouth to the preset implantation site, and then control the drill to complete the surgical operation at the preset implantation site.

[0085] In this embodiment, in order to balance the accuracy and efficiency of path planning, the translation information of the drill bit was mainly referenced in the process of calculating the anchor points of the planting points, and the rotation information of the drill bit was not referenced.

[0086] In this embodiment, after obtaining the recording path, the above steps can be executed automatically to obtain and save the anchor points of multiple implantation sites to be operated on. In this way, when the instruction to plan the path of the target implantation site is received, the anchor points of the implantation site can be obtained directly, thereby improving the response speed.

[0087] In some embodiments, in step S230, determining the planned path for the target planting point based on the anchor point of the target planting point, the current position of the drill bit, and the starting position of the target planting point includes:

[0088] Step b10: Divide the recording path into a front sub-path and a back sub-path according to the anchor point of the target planting point; wherein, the front sub-path is located on the side of the anchor point of the target planting point facing the starting position of the target planting point.

[0089] Step b20: Determine the target sub-path from the preceding sub-path and the following sub-path;

[0090] Step b30: Determine the point closest to the current position of the surgical instrument from the target sub-path as the nearest point;

[0091] Step b40: Determine the planned path for the surgical instrument to reach the target implantation point based on the current position of the surgical instrument, the nearest point, the anchor point of the target implantation point, and the starting position of the target implantation point.

[0092] In step b10, the line segment corresponding to the target planting point in the recording path can be obtained; using the anchor point of the target planting point as the boundary, the obtained line segment is divided into two parts, and the part closer to the starting position of the target planting point is taken as the first sub-path Traj. FH The other part is used as the subsequent sub-path Traj LHIn other examples, the entire recording path can also be divided into a front segment path and a back segment path.

[0093] In step b20, in some examples, it is determined whether the current position of the drill bit is closer to the previous sub-path or the next sub-path; if the minimum distance between the current position of the drill bit and the previous sub-path is less than or equal to the minimum distance between the current position of the drill bit and the next sub-path, then the previous sub-path is taken as the target sub-path; if the minimum distance between the current position of the drill bit and the previous sub-path is greater than the minimum distance between the current position of the drill bit and the next sub-path, then the next sub-path is taken as the target sub-path.

[0094] In another example, the target subpath can be calculated by determining the average vector between the anchor point and the current position of the drill tip, the average vector between the anchor point and points within a unit interval on the preceding subpath, and the average vector between the anchor point and points within a unit interval on the following subpath. The subpath with the smaller angle is then the target subpath. Generally, the point in the recorded path closest to the current position of the drill tip will be located in the subpath corresponding to the average vector with the smaller angle formed by the vectors between the anchor point and the current position of the drill tip; therefore, this subpath is taken as the target subpath.

[0095] Specifically, step b20 may include: determining the vector between the anchor point and the current position of the drill bit tip; determining the first average vector of the vectors between the anchor point and points at intervals of a certain number of units on the preceding sub-path; determining the average vector of the vectors between the anchor point and points at intervals of a certain number of units on the following sub-path; determining the first angle between the vector between the anchor point and the current position of the drill bit tip and the first average vector, and determining the second angle between the vector between the anchor point and the current position of the drill bit tip and the second average vector; if the first angle is less than or equal to the second angle, then the preceding sub-path is taken as the target sub-path; if the first angle is greater than the second angle, then the following sub-path is taken as the target sub-path.

[0096] In step b30, the point in the target sub-path that is the closest to the current position of the drill bit is taken as the nearest point.

[0097] In this embodiment, by segmenting the recording path, determining the target sub-path, and then determining the nearest point from the target sub-path, the amount of data computation can be reduced. In other embodiments, the nearest point can also be determined directly from the recording path.

[0098] In step b40, several intermediate points are set between the current position of the drill bit and the nearest point, and these points are connected to obtain a sub-path; the portion of the recorded path between the nearest point and the anchor point of the target implantation point is obtained as a sub-path; several intermediate points are set between the anchor point of the target implantation point and the starting position of the target implantation point, and these points are connected to obtain a sub-path; the above three sub-paths are spliced ​​together to obtain the planned path for the surgical instrument to reach the target implantation point.

[0099] For example, step b40, determining the planned path for the target implantation point based on the current position of the surgical instrument, the nearest point, the anchor point of the target implantation point, and the starting position of the target implantation point, includes:

[0100] Step b41: Determine the nearest sub-path for the surgical instruments to reach the nearest point from the current position;

[0101] Step b42: Take the portion of the recorded path that leads from the nearest point to the target planting point as the near-anchor sub-path;

[0102] Step b43: Determine the near-zero sub-path of the surgical instruments from the anchor point of the target implantation site to the starting position of the target implantation site;

[0103] Step b44: Based on the nearest sub-path, the near anchor sub-path, and the near zero sub-path, obtain the planned path for the target planting point.

[0104] In step b41, several intermediate points can be set between the current position of the drill bit and the nearest point in the target sub-path. The current position of the drill bit, the intermediate points, and the nearest point are then stitched together to obtain a result close to the sub-path Traj. c2n .

[0105] In step b42, to avoid the drill bit colliding with human tissue, the portion of the recorded path between the nearest point and the target implantation point is captured as the near-anchor sub-path Traj. n2a .

[0106] In step b43, several intermediate points can be set between the anchor point and the starting position of the target planting point. The anchor point, intermediate points, and starting position of the target planting point are then stitched together to obtain the near-zero subpath Traj. a2r .

[0107] In step b44, the paths closest to the subpath Traj are sequentially... c2n Near anchor path Traj n2a Traj near-zero sub-path a2r The spliced ​​paths constitute at least a part of the planned path for the target planting site.

[0108] In this embodiment, by determining the planned path of the target implantation point based on reference points such as the current position of the drill bit, the nearest point in the target sub-path, the anchor point of the target implantation point, and the starting position of the target implantation point, a more optimized path can be provided for the surgery, reducing invalid movements and repeated paths, which is conducive to improving surgical efficiency and ensuring surgical safety and reliability.

[0109] The implant axis at the target implant site has two opposite directions: the cusp direction and the root direction. The anchor point of the corresponding implant site and the starting position of the implant site can both form projections on the implant axis at the target implant site. In one example, by comparing the height of the projection positions of the anchor point and the implant site, it can be determined whether the drill height at the anchor point needs to be adjusted, thereby further avoiding the drill hitting human tissue.

[0110] In some embodiments, prior to step b40, the method further includes:

[0111] Step b50: Obtain the projection of the anchor point of the target planting point onto the implant axis at the target planting point, and obtain the projection of the starting position of the target planting point onto the implant axis.

[0112] Step b60: Determine the relative positional relationship between the projection of the anchor point of the target planting point and the projection of the starting position of the target planting point;

[0113] Step b70: If the projection of the anchor point of the target implant site is located on the side of the projection of the starting position of the target implant site toward the root direction of the implant axis, then the lifting point is determined; wherein, the lifting point is along the implant axis and in the direction toward the cusp, the surgical instrument is lifted from the anchor point of the target implant site to a point at the same height as the starting position of the target implant site. Correspondingly, step b40: Determine the planned path of the target implant site based on the current position of the surgical instrument, the nearest point, the anchor point of the target implant site, and the starting position of the target implant site, including: determining the planned path of the target implant site based on the current position of the surgical instrument, the nearest point, the anchor point of the target implant site, the lifting point of the surgical instrument, and the starting position of the target implant site.

[0114] In steps b50 and b60, the height of the projection of the anchor point of the target planting point is compared with the height of the projection of the starting position of the target planting point.

[0115] The following explanation uses the target implant site corresponding to the mandibular dentition as an example. When determining the projection height, the horizontal plane below the implant site can be used as a reference plane. If the projection height of the anchor point of the target implant site is greater than or equal to the projection height of the starting position of the target implant site (i.e., the projection of the anchor point is higher than the projection of the starting position of the target implant site), or the projection of the anchor point is at the same height as the projection of the starting position of the target implant site, then no adjustment is needed. If the projection height of the anchor point of the target implant site is less than the projection height of the starting position of the target implant site (i.e., the projection of the anchor point is lower than the projection of the starting position of the target implant site), then proceed to step b70.

[0116] In step b70, to ensure the safety of the surgery, the projection of the anchor point at the target implant site is more biased toward the root direction of the implant axis than the projection of the starting position of the target implant site. Therefore, the drill bit needs to be lifted at the anchor point of the target implant site.

[0117] Taking the target implant site corresponding to the mandibular dentition as an example, when the projection of the anchor point of the target implant site is lower than the projection of the starting position of the target implant site, the drill bit is raised along the implant axis from the anchor point of the target implant site to the starting position p of the target implant site. ready4drill Equal elevation point p anchorLift Thus, when determining the near-zero sub-path, it is possible to determine how to lift the drill bit along the implant axis from the anchor point at the target implantation site to the lifting point p. anchorLift The sub-path, and determining the drill bit from the lift point p anchorLift Move to the starting position p of the target planting point. ready4drill The sub-paths are then used to determine near-zero sub-paths based on the two sub-paths mentioned above.

[0118] In this embodiment, the path can be further optimized based on the relative position of the projection of the anchor point of the target implantation point on the implant axis and the projection of the starting position of the target implantation point on the implant axis, so as to improve surgical efficiency and ensure surgical safety and reliability.

[0119] In this embodiment, the planned paths for multiple implant sites to be operated on can be determined according to at least some of the steps in steps b10 to b70. During the operation, in response to the instruction to plan the path of the current target implant site, the surgical path planning device obtains the planned path of the current target implant site according to at least some of the steps in steps b10 to b70, and sends the planned path to the dental implant robot; the dental implant robot controls the drill bit to reach the starting position of the target implant site according to the planned path of the current target implant site, and after the dental implant robot completes the drilling operation at the target implant site, the dental implant robot can control the drill bit to automatically rise, for example, to the starting position of the target implant site. In response to the instruction to plan the path of the next target implant site, the surgical path planning device obtains the planned path of the next target implant site according to at least some of the steps in steps b10 to b70, and sends the obtained planned path to the dental implant robot, so that the dental implant robot performs a new round of operations.

[0120] In some embodiments, in scenarios where drill bit replacement is required, after the dental implant robot controls the drill bit exit and the user replaces the drill bit at the end of the dental implant robot, the nearest point can be re-determined. The surgical path planning device can perform path planning based on the current pose of the replaced drill bit, the nearest point, and the anchor point and starting position of the implantation point corresponding to the replaced drill bit, and execute at least some of the steps in steps b10 to b70 as needed.

[0121] In some examples, in order to ensure the safety of the intraoral path and improve the applicability of the recorded path, both the recorded path and the surgical planning path can use the position and orientation of the drill tip as a reference, and the recorded path and the planning path are a set of drill tip positions.

[0122] For example, the same recording path applies to both the drill bit before and after replacement. For instance, for implant sites located in the same target tooth region, the recording path for that target tooth region is the set of poses of the drill bit tip within the recording area of ​​each implant site to be operated on. Therefore, path planning can be performed based on this recording path for both the drill bit before and after replacement. The length of the replaced drill bit can be different from the length of the replaced drill bit.

[0123] With the above settings, this embodiment can be applied to drills of various lengths. In scenarios where multiple drills are required during surgery, after replacing the drill, there is no need to re-acquire the recorded path or redetermine the anchor point. The planned path can be obtained simply by performing path planning based on the current pose of the replaced drill tip, the anchor point and starting position of the corresponding implantation point of the replaced drill, and at least some of the steps in steps b10 to b70 as needed. This can further improve surgical efficiency.

[0124] According to the planned path, the robotic arm forms a corresponding set of robotic arm poses based on the length of the drill bit, ensuring that the position and direction of the replaced drill bit tip follow the planned path. The direction of the drill bit can be determined based on the coordinate system of the jawbone in the corresponding dentition. If the implantation point and starting position are the same before and after replacement, and the pose of the drill bit tip is the same before and after replacement, then the movement trajectory of the replaced drill bit tip can be the same as that of the original drill bit tip.

[0125] In some embodiments, the surgical path planning method further includes: controlling the drill bit to stop moving when it is determined, based on the acquired detection information, that the drill bit has collided with an obstacle; wherein the detection information includes information detected by a force sensor installed on a mobile terminal; and the obstacle includes human tissue.

[0126] Force sensors are installed on the mobile terminal or drill bit. During normal path planning, the force sensor experiences very small, negligible forces; however, when the force sensor collides with an obstacle, such as human tissue, the force sensor experiences relatively large forces. Therefore, if abnormal data is detected by the force sensor, it can be determined that the force sensor has collided with an obstacle. Accordingly, the surgical path planning device feeds back a safety handling strategy to the dental implant robot. The safety handling strategy may include controlling the drill bit to stop moving, thereby ensuring the safety and reliability of the surgery.

[0127] For example, the information detected by the force sensor can be sent to the surgical path planning device. The surgical path planning device calculates the force F acting on the tip of the drill bit based on the drill bit tip and the calibration parameters of the force sensor. tip , will force F tip With the preset threshold F Thres Compare; if F tip >F Thres If a collision occurs, the drill bit is identified as having collided with an obstacle. This triggers a message to terminate the planned path execution, which is then sent to the dental implant robot. Once the surgery is confirmed to be safe, in response to a command to continue the procedure, the planned path can be resumed, or the dental implant robot can continue controlling the drill bit's movement according to the planned path.

[0128] In this embodiment, for example, if the patient's head suddenly moves rapidly during the operation and collides with the drill bit, the drill bit can be stopped in time, thereby improving the safety and reliability of the operation.

[0129] The following example illustrates the surgical procedure performed using this embodiment. Taking the implant sites in this surgery as examples, all located in the mandible, and specifically A1, B1, and C1, the specific distribution of A1, B1, and C1 can be found in [reference needed]. Figure 3 The implementation process may include the following steps c110 to c200.

[0130] Step c110: Initially, the user drags the end effector of the dental implant robot, carrying the drill bit, into the patient's mouth by dragging and teaching, and adjusts the drill bit to the starting position of the preset implantation point A1 based on visual feedback.

[0131] Step c120: Enable the path recording function. The user drags the drill needle out of the patient's mouth by dragging and teaching. During the dragging process, the drill needle sweeps past the vicinity of B1 and C1 in sequence until the drill needle is dragged to the preset point outside the mouth. Then, the path recording is turned off and the path (including the position and direction of the drill needle tip) is saved as the recorded path.

[0132] Step c130: Based on the starting positions of B1 and C1, and according to the formula (i) above, determine the anchor point B of B1. 1anchor Anchor point C of C1 1anchor .

[0133] Step c140: In response to the user's instruction to select a planned path for A1, the recorded path from the pre-set extraoral point to the starting position of the pre-set implantation point A1 is used as the planned path for A1, and the planned path for A1 is sent to the dental implant robot. The dental implant robot controls the movement of the drill bit according to the planned path for A1, and the dental implant robot controls the drill bit to complete the drilling operation for A1. The dental implant robot controls the drill bit to move to the starting position of A1.

[0134] Step c150: In response to the user's instruction to select the planned path B1, with B... 1anchor Divide the line segment corresponding to B1 in the recording path into two segments, with the segment closest to the starting position p of B1 being the dividing point. ready4drill One part is used as the preceding sub-path, and the other part is used as the following sub-path; alternatively, B can be used. 1anchor The entire recording path is divided into a first sub-path and a second sub-path, using the dividing point as the reference. Assuming that, based on calculations and analysis, the first sub-path is taken as the target sub-path.

[0135] Step c160, Determine B 1anchor The projection on the implant axis planned for B1 and p ready4drillThe relative positional relationship of the projections onto the implant axis; if B 1anchor If the projection on the implant axis planned for B1 is low, the drill bit needs to be raised along the implant axis to the position of p. ready4drill Let the point be p, which is at the same elevation. anchorLift (Conversely, there is no need to consider the lifting issue).

[0136] Step c170: Move the drill bit to the point in the target subpath that is closest to the current position. This subpath segment is called the nearest subpath, denoted as Traj. c2n (current to nearest), then move the drill bit along the recording path to B. 1anchor This sub-path is called the near-anchor sub-path Traj. n2a (nearest to anchor).

[0137] Step c180, based on Traj c2n Traj n2a p anchorLift p ready4drill Obtain the planned path for B1. Send the planned path of B1 to the dental implant robot. The dental implant robot controls the movement of the drill bit according to the planned path of B1, and controls the drill bit to complete the drilling operation for B1. The dental implant robot controls the drill bit to move to the starting position of B1.

[0138] Step c190: Repeat steps c150 to c180 to complete the drilling operation for C1. The dental implant robot controls the drill bit to move to the starting position of C1.

[0139] Step c200: Control the drill bit exit. After the drill bit reaches the exit, the user can replace it and select a new drill bit according to the computer prompts. In response to the user's instruction to select A1, the recorded path and the anchor points of each planting site are known, and a planned path is generated based on the current position of the new drill bit tip. Accordingly, steps c140 to c190 are executed to complete the drilling operation of the replaced drill bit in A1, B1, and C1.

[0140] It is understood that the execution order of the above steps can be set according to actual needs, and this embodiment does not limit the execution order of the above steps.

[0141] To facilitate better implementation of the surgical path planning method of this embodiment, this embodiment also provides a surgical path planning device.

[0142] Figure 5 A structural block diagram of a surgical path planning device provided for an exemplary embodiment. Figure 5As shown, the surgical path planning device provided in this embodiment includes: an acquisition unit 510 and a first determination unit 520.

[0143] The acquisition unit 510 is used to obtain and save the recording path using the recording device; wherein the recording path passes through the recording areas corresponding to multiple implantation points to be operated on.

[0144] The first determining unit 520 responds to the instruction to plan the path of the target implantation site and determines the planned path of the surgical instrument from the current position to the target implantation site; wherein at least part of the planned path of the target implantation site passes through the recorded path; the target implantation site is any one of a plurality of implantation sites to be operated on.

[0145] In some embodiments, the recording path includes the path of the surgical instrument moving between a preset implantation point inside the mouth and a preset point outside the mouth.

[0146] In some embodiments, the surgical path planning device further includes: a second determining unit, configured to determine anchor points of multiple intraoral implantation sites to be operated on based on the recorded path; correspondingly, the first determining unit 520 is specifically configured to determine the planned path for the surgical instrument to reach the target implantation site based on the anchor point of the target implantation site, the current position of the surgical instrument, and the starting position of the target implantation site.

[0147] In some embodiments, the recording path includes the path of the surgical instrument from a preset implantation point inside the mouth to a preset implantation point outside the mouth; wherein the preset implantation point is the distal implantation point among a plurality of implantation points to be operated on.

[0148] In some embodiments, the recording path includes the path of the surgical instrument from a preset point outside the mouth to a preset implantation point inside the mouth; wherein the preset implantation point is the distal implantation point among a plurality of implantation points to be operated on.

[0149] In some embodiments, when multiple implant sites to be operated on are distributed across multiple target tooth regions, the number of recorded paths is less than or equal to the number of target tooth regions.

[0150] In some embodiments, the second determining unit is specifically used to: obtain the starting position of the implantation site to be operated on, and obtain the position information of at least one trajectory point corresponding to the implantation site to be operated on in the recording path; determine the Euclidean distance between each trajectory point corresponding to the implantation site to be operated on and the starting position; determine the minimum distance from the obtained Euclidean distances, and use the trajectory point corresponding to the minimum distance as the anchor point of the implantation site to be operated on.

[0151] In some embodiments, the first determining unit 520 is specifically configured to: divide the recorded path into a front sub-path and a back sub-path according to the anchor point of the target implantation point; wherein, the front sub-path is located on the side of the anchor point of the target implantation point facing the starting position of the target implantation point; select a target sub-path from the front sub-path and the back sub-path; determine the point closest to the current position of the surgical instrument from the target sub-path as the nearest point; and determine the planned path for the surgical instrument to reach the target implantation point based on the current position of the surgical instrument, the nearest point, the anchor point of the target implantation point, and the starting position of the target implantation point.

[0152] In some embodiments, the first determining unit 520 is specifically used to: obtain the projection of the anchor point of the target implant site onto the implant axis at the target implant site, and obtain the projection of the starting position of the target implant site onto the implant axis; determine the relative position of the projection of the anchor point of the target implant site and the projection of the starting position of the target implant site; if the projection of the anchor point of the target implant site is located on the side of the projection of the starting position of the target implant site toward the root direction of the implant axis, then determine the lifting point; wherein, the lifting point is a point along the implant axis and in the direction toward the cusp, whereby the surgical instrument is lifted from the anchor point of the implant site to a height equal to the starting position of the target implant site; and determine the planned path for the surgical instrument to reach the target implant site based on the current position of the surgical instrument, the nearest point, the anchor point of the target implant site, the lifting point of the surgical instrument, and the starting position of the target implant site.

[0153] In some embodiments, the first determining unit 520 is specifically used to: determine a proximity sub-path for the surgical instrument to reach the nearest point from its current position; take the portion of the recorded path located between the nearest point and the anchor point of the target implantation site as a near-anchor sub-path; determine a near-zero sub-path for the surgical instrument from the anchor point of the target implantation site to the starting position of the target implantation site; and obtain a planned path to the target implantation site based on the proximity sub-path, the near-anchor path, and the near-zero sub-path.

[0154] In some embodiments, the surgical instrument includes a drill bit; the recording path and the planning path are a set of drill bit tip poses; the same recording path is applicable to both the drill bit before and after replacement.

[0155] In some embodiments, the first determining unit 520 is further configured to: control the surgical instrument to stop moving when it is determined, based on the acquired detection information, that the surgical instrument has collided with an obstacle; wherein the detection information includes information detected by a force sensor installed on a mobile terminal; and the obstacle includes human tissue.

[0156] The functions of each unit in the device embodiments of this disclosure can be found in the relevant descriptions in the above method embodiments of this disclosure, and will not be repeated here.

[0157] It should be noted that the division of functional units in this embodiment is illustrative and represents only one logical functional division. In actual implementation, other division methods may be used. The functional units in this embodiment can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0158] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this disclosure, in essence, or the part that contributes to the prior art, or all or 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.) or processor to execute all or part of the steps of the methods provided in the various embodiments of this disclosure. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory, random access memory, magnetic disks, or optical disks.

[0159] The surgical path planning device can be integrated into a terminal or server that has storage and a processor and thus computing power, or the surgical path planning device can be the terminal or server.

[0160] Figure 6 This is a structural block diagram of an electronic device according to an embodiment of the present disclosure. Figure 6 As shown, the electronic device includes a memory 610 and a processor 620. The memory 610 stores a computer program that can run on the processor 620. There can be one or more memories 610 and processors 620. The memory 610 can store one or more computer programs, which, when executed by the electronic device, cause the electronic device to perform the methods provided in the above-described method embodiments. The electronic device may also include a communication interface 630 for communicating with external devices and performing data exchange and transmission.

[0161] If the memory 610, processor 620, and communication interface 630 are implemented independently, they can be interconnected via a bus to communicate with each other. This bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. This bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 6 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0162] Optionally, in a specific implementation, if the memory 610, processor 620, and communication interface 630 are integrated on a single chip, then the memory 610, processor 620, and communication interface 630 can communicate with each other through an internal interface.

[0163] This disclosure also provides a computer-readable storage medium storing computer instructions that, when executed on a computer, cause the computer to perform the methods provided in the above-described method embodiments.

[0164] This disclosure also provides a computer program product for storing a computer program. When the computer program is executed by a computer, the computer can implement the methods provided in the above-described method embodiments.

[0165] This disclosure also provides a chip coupled to a memory, which is used to implement the method provided in the above-described method embodiments.

[0166] This disclosure also provides an automated dental implant system, including: an oral implant robot and a surgical path planning device as described in any of the foregoing embodiments; wherein, the oral implant robot controls the drill bit to move to the starting position of the target implant site to perform the surgical operation according to the planned path of the target implant site provided by the surgical path planning device.

[0167] It should be understood that the aforementioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. General-purpose processors can be microprocessors or any conventional processor. It is worth noting that the processor can be a processor supporting Advanced Reduced Instruction Set Machines (ARM) architecture.

[0168] Further, optionally, the aforementioned memory may include read-only memory and random access memory, and may also include non-volatile random access memory. The memory may be volatile or non-volatile, or may include both. Non-volatile memory may include read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory may include random access memory (RAM), which serves as an external cache. Many forms of RAM are available by way of example, but not limitation. Examples include Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous DRAM (SDRAM), Double Data Rate Synchronous DRAM (DDR SDRAM), Enhanced Synchronous DRAM (ESDRAM), Synchlink DRAM (SLDRAM), and Direct RAMBUS RAM (DR RAM).

[0169] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this disclosure is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line, DSL) or wireless (e.g., infrared, Bluetooth, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access, or a data storage device such as a server or data center that integrates one or more available media. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., Digital Versatile Discs (DVDs)), or semiconductor media (e.g., Solid State Disks (SSDs)). It is worth noting that the computer-readable storage media mentioned in this disclosure can be non-volatile storage media; in other words, they can be non-transient storage media.

[0170] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware, or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0171] In the description of the embodiments of this disclosure, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. Furthermore, the specific features or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0172] In the description of embodiments of this disclosure, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this disclosure, unless otherwise stated, "a plurality of" means two or more.

[0173] The above are merely exemplary embodiments of this disclosure and are not intended to limit this disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the protection scope of this disclosure.

Claims

1. A surgical path planning method, characterized in that, include: The recording path is obtained and saved using a recording device; wherein the recording path passes through the recording areas corresponding to multiple implantation sites to be operated on; In response to an instruction to plan a path to a target implantation site, a planned path is determined for the surgical instruments to reach the target implantation site from their current position; wherein the planned path at least partially passes through the recorded path; and the target implantation site is any one of a plurality of implantation sites to be operated on. Before determining the planned path for the surgical instruments to reach the target implantation site from the current location, the process also includes: Based on the recording path, anchor points for multiple intraoral implantation sites to be operated on are determined. Determining the planned path for surgical instruments to reach the target implantation site from the current location includes: Based on the anchor point of the target implantation site, the current position of the surgical instrument, and the starting position of the target implantation site, the planned path for the surgical instrument to reach the target implantation site is determined. The anchor points for determining the implantation site to be operated on include: Obtain the starting position of the implantation site to be operated on, and obtain the position information of at least one trajectory point in the recording path that corresponds to the implantation site to be operated on; Determine the Euclidean distance between each trajectory point corresponding to the implantation point to be operated on and the starting position; Determine the minimum distance from the obtained Euclidean distances, and use the trajectory point corresponding to the minimum distance as the anchor point of the implantation site to be operated on; Based on the anchor point of the target implantation site, the current position of the surgical instrument, and the starting position of the target implantation site, the planned path for the surgical instrument to reach the target implantation site is determined, including: The recording path is divided into a front sub-path and a back sub-path based on the anchor point of the target planting point; wherein, the front sub-path is located on the side of the anchor point of the target planting point facing the starting position of the target planting point. Select the target sub-path from the preceding sub-path and the following sub-path; The point closest to the current position of the surgical instrument is determined from the target sub-path; The planned path for the surgical instrument to reach the target implantation point is determined based on the current position of the surgical instrument, the nearest point, the anchor point of the target implantation point, and the starting position of the target implantation point.

2. The method according to claim 1, characterized in that, Also includes: Obtain the projection of the anchor point of the target planting point onto the implant axis at the target planting point, and obtain the projection of the starting position of the target planting point onto the implant axis. Determine the relative positional relationship between the projection of the anchor point of the target planting point and the projection of the starting position of the target planting point; If the projection of the anchor point of the target implant site is located on the side of the projection of the starting position of the target implant site toward the root of the implant axis, then the lifting point is determined; wherein, the lifting point is the point along the direction of the implant axis toward the cusp, where the surgical instrument is lifted from the anchor point of the target implant site to the same height as the starting position of the target implant site. The step of determining the planned path for the surgical instrument to reach the target implantation point based on the current position of the surgical instrument, the nearest point, the anchor point of the target implantation point, and the starting position of the target implantation point includes: The planned path for the surgical instrument to reach the target implantation point is determined based on the current position of the surgical instrument, the nearest point, the anchor point of the target implantation point, the lifting point of the surgical instrument, and the starting position of the target implantation point.

3. The method according to claim 1, characterized in that, The step of determining the planned path for the surgical instrument to reach the target implantation point based on the current position of the surgical instrument, the nearest point, the anchor point of the target implantation point, and the starting position of the target implantation point includes: Determine the nearest sub-path for the surgical instrument to reach the nearest point from its current position; The portion of the recorded path between the nearest point and the target planting point is taken as the near-anchor sub-path; Determine the near-zero sub-path of the surgical instrument from the anchor point of the target implantation site to the starting position of the target implantation site; Based on the near sub-path, near anchor sub-path, and near zero sub-path, the planned path for the surgical instrument to reach the target implantation point is obtained.

4. The method according to claim 1, characterized in that, The recording path includes the path of the surgical instruments moving between preset implantation points inside the mouth and preset points outside the mouth.

5. The method according to claim 4, characterized in that, The recording path includes the path of the surgical instruments from a preset implantation point inside the mouth to a preset implantation point outside the mouth; wherein, the preset implantation point is the distal implantation point among a plurality of implantation points to be operated on. Alternatively, the recording path includes the path of the surgical instrument from a preset point outside the mouth to a preset implantation point inside the mouth; wherein the preset implantation point is the distal implantation point among a plurality of implantation points to be operated on.

6. The method according to claim 1, characterized in that, When multiple implant sites to be operated on are distributed across multiple target tooth regions, the number of recorded paths is less than or equal to the number of target tooth regions.

7. The method according to claim 1, characterized in that, The surgical instruments include a drill bit; The recorded path and the planned path are a set of drill bit tip poses; the same recorded path is applicable to path planning for both the drill bit before and after replacement.

8. The method according to claim 1, characterized in that, Also includes: When it is determined, based on the acquired detection information, that the surgical instrument has collided with an obstacle, the surgical instrument is controlled to stop moving; wherein, the detection information includes information detected by a force sensor installed on a mobile terminal; and the obstacle includes human tissue.

9. A surgical path planning device, characterized in that, include: The acquisition unit is used to obtain and save the recording path using a recording device; wherein the recording path passes through the recording areas corresponding to multiple implantation points to be operated on; The first determining unit is configured to determine, in response to an instruction to plan the path of the target implantation site, the planned path of the surgical instrument from its current position to the target implantation site; wherein the planned path of the target implantation site passes at least partially through the recorded path; and the target implantation site is any one of a plurality of implantation sites to be operated on. The surgical path planning device further includes: a second determining unit, used to determine anchor points of multiple intraoral implantation sites to be operated on based on the recorded path; correspondingly, the first determining unit is specifically used to determine the planned path for the surgical instrument to reach the target implantation site based on the anchor point of the target implantation site, the current position of the surgical instrument, and the starting position of the target implantation site. The second determining unit is specifically used for: obtaining the starting position of the implantation site to be operated on, and obtaining the position information of at least one trajectory point in the recording path corresponding to the implantation site to be operated on; determining the Euclidean distance between each trajectory point corresponding to the implantation site to be operated on and the starting position; determining the minimum distance from the obtained Euclidean distances, and using the trajectory point corresponding to the minimum distance as the anchor point of the implantation site to be operated on. The first determining unit is specifically used for: dividing the recorded path into a front sub-path and a back sub-path based on the anchor point of the target implantation point; wherein the front sub-path is located on the side of the anchor point of the target implantation point facing the starting position of the target implantation point; selecting a target sub-path from the front sub-path and the back sub-path; determining the point closest to the current position of the surgical instrument from the target sub-path as the nearest point; and determining the planned path for the surgical instrument to reach the target implantation point based on the current position of the surgical instrument, the nearest point, the anchor point of the target implantation point, and the starting position of the target implantation point.

10. An electronic device, characterized in that, include: One or more processors; A memory that is communicatively connected to the one or more processors; One or more computer programs, wherein the one or more computer programs are stored in the memory, and when the one or more computer programs are executed by the electronic device, cause the electronic device to perform the method as described in any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that, It stores computer instructions that, when executed on a computer, cause the computer to perform the method as described in any one of claims 1 to 8.

12. An automated dental implant system, characterized in that, include: Oral implant robot and surgical path planning device as described in claim 9; The oral implant robot controls the surgical instruments to move to the starting position of the target implant point according to the planned path of the target implant point provided by the surgical path planning device to perform the surgical operation.

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