Maxillary sinus mucosa automatic induction stripping device for oral implantation

Abstract

The invention discloses an oral implant maxillary sinus mucosa automatic induction stripping device which comprises a base, a machine body is fixedly connected to the base, and a mechanical wrist assembly, an automatic stripping assembly, a sensing navigation unit and a control unit are arranged on the machine body; the mechanical wrist assembly is installed on the machine body, the free end of the mechanical wrist assembly is fixedly connected with the automatic stripping assembly, the mechanical wrist assembly is used for driving the automatic stripping assembly to move to the target position, and the automatic stripping assembly is used for executing stripping operation. The control unit comprises a processor and an execution control module, the sensing navigation unit is used for obtaining high-resolution three-dimensional structure information of maxillary sinus mucous membrane tissue and an operation area image in real time and sending the information and the image to the processor, and after the information is analyzed by the processor, the operation force and direction of the mechanical wrist assembly and the automatic stripping assembly are accurately regulated and controlled; the mucous membrane perforation risk caused by local stress concentration in a traditional operation can be effectively reduced, the occurrence rate of postoperative complications is greatly reduced, and the operation safety and the postoperative recovery effect of a patient are powerfully guaranteed.

Description

Technical Field

[0001] The present application belongs to the field of oral implant technology, and in particular relates to an automatic sensing stripping device for maxillary sinus mucosa for oral implantation. Background Art

[0002] In the field of oral implants, maxillary sinus mucosa lift is a key operation, whose main purpose is to increase the height of the alveolar bone in the maxillary posterior teeth area and create sufficient bone conditions for the placement of implants. The operation is performed by peeling the maxillary sinus mucosa from the sinus floor bone wall or the sinus side wall upward and inward, and then implanting bone graft material between the mucosa and the sinus floor bone wall to achieve the increase of the alveolar bone. Currently common maxillary sinus mucosa lift procedures include the lateral wall window method and the alveolar crest approach method.

[0003] Traditional surgical procedures rely mainly on manual manipulation by the doctor using simple stripping instruments. Due to the delicate and complex anatomical structure of the maxillary sinus region, it is difficult for the doctor to accurately control the strength and range of the stripping. During manual manipulation, due to the inability to obtain detailed information about the sinus mucosal tissue in real time, it is very easy to cause perforation of the maxillary sinus mucosa due to improper manipulation. This not only affects the success rate of the implant surgery, but may also cause a series of postoperative complications such as infection, increased pain, and increased implant failure rate, bringing additional pain and financial burden to the patient. At the same time, traditional surgical methods lack an effective navigation system. During the operation, the doctor can only rely on experience and preoperative two-dimensional imaging data to determine the surgical path, making it difficult to achieve precise surgical operations. For complex cases, this method often cannot meet the high-precision requirements of the surgery, limiting the application of oral implant technology in some difficult cases. Summary of the Invention

[0004] The purpose of this application is to provide an automatic sensing stripping device for the maxillary sinus mucosa of oral implants. Through the cooperation of a control unit and an automatic stripping component, the problem of the prior art in which, during manual operation, detailed information of the sinus mucosal tissue cannot be obtained in real time, which is prone to improper operation and may lead to perforation of the maxillary sinus mucosa.

[0005] The present application is implemented as follows: an automatic induction stripping device for oral implant maxillary sinus mucosa comprises a base, to which an organic body is fixedly connected, and the organic body is provided with a mechanical wrist component, an automatic stripping component, a sensor navigation unit, and a control unit;

[0006] The mechanical wrist assembly is mounted on the machine body, and its free end is fixedly connected to the automatic peeling assembly. The mechanical wrist assembly is used to drive the automatic peeling assembly to move to a target position, and the automatic peeling assembly is used to perform a peeling operation;

[0007] The sensor navigation unit is used to obtain high-resolution three-dimensional structural information of the maxillary sinus mucosa tissue and surgical area images in real time and send them to the control unit;

[0008] The control unit includes a processor and an execution control module. The processor is used to send corresponding operation instructions to the execution control module based on the surgical progress and the data feedback from the sensor navigation unit to control the operation of the robotic wrist assembly and the automatic peeling assembly to achieve precise control of the surgical instrument.

[0009] In some implementations, the control unit further includes a sinus cavity three-dimensional model construction module, a surgical path planning module, and a navigation interface;

[0010] The sinus cavity three-dimensional model construction module is used to process the data obtained by the scanning of the sensor navigation unit to generate an accurate three-dimensional model of the sinus cavity, and transmit the model data to the surgical path planning module; the surgical path planning module plans multiple feasible surgical paths based on the model data and the surgical goals and constraints input by the doctor, and then feeds back these path information to the processor; the processor outputs the path information to the navigation interface, and the doctor can intuitively preview the surgical path through the navigation interface and make manual adjustments.

[0011] In some implementations, the automated dissection assembly includes a flexible dissector for dissecting mucosal tissue and a cutting assembly for performing a cutting operation.

[0012] In some implementations, one side of the flexible stripper is fixedly connected to the free end of the mechanical wrist assembly, and the cutting assembly includes a first drive motor, a connecting shell, a connecting seat, a second drive motor, an adjustment assembly and a cutter, the first drive motor is fixedly connected to the flexible stripper, the output end of the first drive motor is fixedly connected to the connecting shell, one side of the bottom of the connecting shell is fixedly connected to the connecting seat, the second drive motor is fixedly mounted on the connecting seat, the output end of the second drive motor is fixedly connected to the adjustment assembly, the adjustment assembly is used to adjust the orientation of the cutter, and its free end is fixedly connected to the cutter.

[0013] In some implementations, the adjustment assembly includes a connecting arm, a third drive motor, a screw rod, a movable frame, a movable seat, a sliding rod, a fourth drive motor and a rotating rod; one side of the connecting arm is fixedly connected to the output end of the second drive motor, a partition is provided on one side of the inner cavity of the connecting arm, the third drive motor is fixed on the partition, the output end of the third drive motor is coaxially connected to the screw rod, the screw rod is threadedly connected to one end of the movable frame, and the movable seat is fixed to the other end of the movable frame; the sliding rod is fixed in the connecting arm, and its length direction is parallel to the length direction of the connecting arm, and the movable seat is slidably sleeved on the periphery of the sliding rod; the fourth drive motor is fixed on the movable seat, the rotating rod is coaxially connected to the output end of the fourth drive motor, and the cutter is fixedly connected to the rotating rod.

[0014] In some implementations, the flexible stripper is designed with a flexible stripping manipulator that imitates octopus tentacles, and a pressure sensor array is fixedly connected to the inside of the flexible stripper to accurately sense the pressure changes when in contact with mucosal tissue in real time. When the pressure data exceeds the preset safety range, the pressure sensor array will promptly feed back these pressure change signals to the processor. The processor adjusts the movement posture and strength of the flexible stripper through the execution control module based on the feedback signal to regulate the stripping operation.

[0015] In some implementations, the control unit further includes a tactile feedback module, which is electrically connected to the processor and configured to transmit force and direction signals generated by the doctor's operation to the processor in real time.

[0016] In some implementations, the control unit also includes a surgical report generation module and a data storage and backup module, the input end of the surgical report generation module is unidirectionally electrically connected to the output end of the processor, and the output end of the data storage and backup module is bidirectionally electrically connected to the input end of the processor; the surgical report generation module is used to receive key data of the surgical process transmitted by the processor after the operation is completed, and automatically generate a detailed surgical report, and the data storage and backup module is used to safely store various types of data generated during the entire surgical process and back up them regularly.

[0017] In some implementations, the robotic wrist assembly is a three-degree-of-freedom mechanical control wrist, which includes a first robotic arm, a second robotic arm, and a third robotic arm. One end of the first robotic arm is movably connected to the body, and the other end is movably connected to one end of the second robotic arm. The other end of the second robotic arm is movably connected to one end of the third robotic arm, and the other end of the third robotic arm is fixedly connected to the automatic peeling assembly.

[0018] In some implementations, a mounting base is further provided between the robotic wrist assembly and the automatic peeling assembly, and the sensing navigation unit includes a fixed base, a fifth drive motor, a circular gear, a sector gear, an adjustment frame, an electric push rod, an OCT optical coherence tomography probe, and an endoscopic camera. The fixed base is fixedly connected to the mounting base, the fifth drive motor is fixed on the fixed base, the circular gear and the sector gear are both installed on the mounting base and mesh with each other, the rotating shaft of the fifth drive motor is fixedly connected to the circular gear, one end of the adjustment frame is fixedly connected to the sector gear, and the other end is fixedly connected to the OCT optical coherence tomography probe and the endoscopic camera.

[0019] Compared with the prior art, the present application has the following advantages:

[0020] The automatic sensing stripping device of the present application collects comprehensive information of mucosal tissue in real time through a sensor navigation unit, and after analysis by the processor, accurately controls the operating force and direction of the mechanical wrist component and the automatic stripping component. It can effectively reduce the risk of mucosal perforation caused by local stress concentration in traditional surgery, greatly reduce the incidence of postoperative complications, and effectively ensure the patient's surgical safety and postoperative recovery effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic structural diagram of the automatic induction stripping device for maxillary sinus mucosa for oral implantation according to an embodiment of the present application;

[0022] Figure 2 This is a schematic structural diagram of the automatic induction stripping device for maxillary sinus mucosa for oral implantation according to an embodiment of the present application from another angle;

[0023] Figure 3 This is a schematic structural diagram of the automatic stripping component and the sensor navigation unit in the oral implant maxillary sinus mucosa automatic sensing stripping device according to an embodiment of the present application;

[0024] Figure 4 This is a schematic structural diagram of a sensor navigation unit in the automatic sensing stripping device for maxillary sinus mucosa for oral implantation according to an embodiment of the present application;

[0025] Figure 5 A schematic diagram of the partial structure of the automatic stripping component of the oral implant maxillary sinus mucosa automatic induction stripping device according to an embodiment of the present application;

[0026] Figure 6 This is a schematic structural diagram of the cutting assembly in the automatic induction stripping device for maxillary sinus mucosa for oral implantation according to an embodiment of the present application;

[0027] Figure 7 This is a schematic diagram of the internal structure of the connecting arm of the automatic induction stripping device for maxillary sinus mucosa of oral implants according to an embodiment of the present application;

[0028] Figure 8 This is a schematic diagram of the connection structure between the circular gear and the sector gear in the oral implant maxillary sinus mucosa automatic induction stripping device according to an embodiment of the present application;

[0029] Figure 9 This is a schematic diagram of the partial structure of the sensor navigation unit in the oral implant maxillary sinus mucosa automatic sensing stripping device according to an embodiment of the present application;

[0030] Figure 10 This is a system schematic diagram of the control unit in the oral implant maxillary sinus mucosa automatic induction stripping device according to an embodiment of the present application.

[0031] Markings in the figure:

[0032] 100, base;

[0033] 200, body;

[0034] 300, robotic wrist assembly; 310, first robotic arm; 320, second robotic arm; 330, third robotic arm;

[0035] 400, automatic stripping assembly; 410, flexible stripper; 420, cutting assembly; 421, first drive motor; 422, connecting housing; 423, connecting base; 424, second drive motor; 425, adjustment assembly; 4251, connecting arm; 4252, third drive motor; 4253, lead screw; 4254, movable frame; 4255, movable base; 4256, sliding rod; 4257, fourth drive motor; 4258, rotating rod; 426, cutter;

[0036] 500, sensor navigation unit; 510, fixing base; 520, fifth drive motor; 530, circular gear; 540, sector gear; 550, adjustment frame; 560, electric push rod; 570, OCT optical coherence tomography probe; 580, endoscope camera; 590, multi-spectral lighting module;

[0037] 600, control unit; 610, processor; 620, execution control module; 630, sinus cavity 3D model construction module; 640, surgical path planning module; 650, AR navigation interface; 660, tactile feedback module; 670, surgical report generation module; 680, data storage and backup module;

[0038] 700. Mounting seat. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0040] In the description of this application, it should be noted that the terms "center", "up", "down", "left", "right", "front", "back", "vertical", "horizontal", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting this application; the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance; in addition, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, an indirect connection through an intermediate medium, or a communication between the internal parts of two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0041] This embodiment provides an automatic induction stripping device for the maxillary sinus mucosa of oral implants. Figure 1 and Figure 2 , is a structural diagram of the device, which includes a base 100, to which an organic body 200 is fixedly connected, and the organic body 200 is provided with a robotic wrist component 300, an automatic peeling component 400, a sensor navigation unit 500 and a control unit 600.

[0042] Specifically, the device uses the base 100 as a stable support foundation, and the body 200 is firmly installed on the top of the base 100, providing a physical bearing platform for the operation of the entire device. The control unit 600 is fixed on one side of the body 200 to coordinate and command the orderly operation of each part. The robotic wrist assembly 300 is fixedly installed on the top of the body 200, and the free end of the robotic wrist assembly 300 is fixedly connected to the automatic peeling assembly 300. The robotic wrist assembly 300 is a key part for directly performing surgical operations. It has highly flexible and precise movement capabilities and can drive the automatic peeling assembly 400 to move to the target position. The automatic peeling assembly 400 is used to perform peeling operations.

[0043] In this embodiment, please refer to Figure 1 and Figure 2The wrist assembly 300 is a three-degree-of-freedom mechanical control wrist, which includes a first robotic arm 310, a second robotic arm 320, and a third robotic arm 330. One end of the first robotic arm 310 is movably connected to the body 200, and the other end is movably connected to one end of the second robotic arm 320. The other end of the second robotic arm 320 is movably connected to one end of the third robotic arm 330, and the other end of the third robotic arm 330 is fixedly connected to the automatic peeling assembly 400. The above-mentioned movable connection can be achieved by using structures such as hinges, universal joints, and ball bearings, with the purpose of providing a feasible solution for the relative rotation between each robotic arm. It is understandable that each of the above-mentioned robotic arms is equipped with a rotation drive motor to realize the control of another robotic arm. In addition, each rotation drive motor can be a stepper motor, a servo motor, a brushless DC motor, or other motor that can control the rotation angle and speed. These motors are electrically connected to the processor so that they can receive control instructions from the processor and rotate the required angle at the set speed. The movable connection between the robotic arms in the robotic wrist assembly allows the robotic wrist assembly to flexibly rotate and displace in multiple directions in space, and can accurately deliver the automatic stripping assembly to the target position in the maxillary sinus in three-dimensional space, providing high-precision positioning guarantees for surgical operations, greatly improving the accessibility and operational flexibility of surgical instruments in complex oral environments.

[0044] In other embodiments, the robotic arm assembly 300 may also be a robotic arm with more degrees of freedom, such as four degrees of freedom, five degrees of freedom, etc. Through the multi-degree-of-freedom robotic arm, the automatic peeling assembly 400 can be extended into the oral cavity in three-dimensional space, transported to the target position, and the angle can be adjusted according to actual needs.

[0045] For details, please refer to Figure 3 The automatic stripping assembly 400 of this embodiment includes a flexible stripper 410 for stripping mucosal tissue and a cutting assembly 420 for performing a cutting operation. One side of the flexible stripper 410 is fixedly connected to the free end of the robotic wrist assembly 300, and the cutting assembly 420 is arranged above the flexible stripper 410.

[0046] This embodiment does not limit the specific structure of the flexible stripper 410 and the cutting assembly 420. For example, in this embodiment, please refer to Figure 5 and Figure 6The cutting assembly 420 includes a first drive motor 421, a connecting shell 422, a connecting seat 423, a second drive motor 424, an adjustment assembly 425 and a cutter 426; the bottom of the first drive motor 421 is fixed in the inner cavity of the flexible stripper 410, the output end of the first drive motor 421 is fixedly connected to the connecting shell 422, one side of the bottom of the connecting shell 422 is fixedly connected to the connecting seat 423, the second drive motor 424 is horizontally fixedly installed at the bottom end of the connecting seat 423, the output end of the second drive motor 424 is fixedly connected to the adjustment assembly 425, the adjustment assembly 425 is used to adjust the orientation of the cutter 426, and its free end is fixedly connected to the cutter 426.

[0047] The above-mentioned adjustment component 435 can be implemented in a variety of structures. For example, please refer to Figure 7 The adjustment assembly 425 of this embodiment includes a connecting arm 4251, a third drive motor 4252, a screw 4253, a movable frame 4254, a movable seat 4255, a sliding rod 4256, a fourth drive motor 4257 and a rotating rod 4258; one side of the connecting arm 4251 is fixedly connected to the output end of the second drive motor 4252, a partition is provided on one side of the inner cavity of the connecting arm 4251, the third drive motor 4252 is fixed on the partition, and the output end of the third drive motor 4252 is coaxially connected to the screw 4253 The screw rod 4253 is threadedly connected to one end of the movable frame 4254, and the movable seat 4255 is fixed to the other end of the movable frame 4254; the sliding rod 4256 is fixed in the connecting arm 4251, and its length direction is parallel to the length direction of the connecting arm 4251. The movable seat 4255 is slidably sleeved on the periphery of the sliding rod 4256; the fourth driving motor 4257 is fixed on the movable seat 4255, the rotating rod 4258 is coaxially connected to the output end of the fourth driving motor 4257, and the cutter 426 is fixedly connected to the rotating rod 4258.

[0048] The sensor navigation unit 500 is used to obtain high-resolution three-dimensional structural information of the maxillary sinus mucosa and images of the surgical area in real time, and transmits these information to the control unit 600. The control unit 600 includes a processor 610 and an execution control module 620. The processor 610 is used to issue corresponding operating instructions to the execution control module 620 based on the surgical progress and data fed back by the sensor navigation unit 500, thereby controlling the operation of the robotic wrist assembly 300 and the automatic peeling assembly 400, thereby achieving precise control of the surgical instruments.

[0049] For details, please refer to Figure 4 、 Figure 8 and Figure 9The sensor navigation unit 500 of this embodiment includes a fixing base 510, a fifth drive motor 520, a circular gear 530, a sector gear 540, an adjustment frame 550, an electric push rod 560, an OCT optical coherence tomography probe 570, an endoscope camera 580 and a multi-spectral lighting module 590; a mounting base 700 is further provided between the mechanical wrist assembly 300 and the automatic peeling assembly 400, the fixing base 510 is fixedly connected to the mounting base 700, and the fifth drive motor 520 is fixed on the fixing base 510. On the fixed seat 510, the circular gear 530 and the fan gear 540 are both installed on the mounting seat 700 and mesh with each other. The rotating shaft of the fifth drive motor 520 is fixedly connected to the circular gear 530. One end of the adjustment frame 550 is fixedly connected to the fan gear 540, and the other end is fixedly connected to the OCT optical coherence tomography probe 570 and the endoscopic camera 580; the multispectral lighting module 590 is arranged between the OCT optical coherence tomography probe 570 and the endoscopic camera 580.

[0050] The aforementioned OCT optical coherence tomography probe 570 can acquire high-resolution, three-dimensional structural information of maxillary sinus mucosal tissue in real time, while the endoscopic camera 580 provides real-time, intuitive images of the surgical area. The adjustment frame 550 is driven by the fifth drive motor 520 for angle adjustment. When the fifth drive motor 520 is running, it drives the adjustment frame 550 to rotate about its axis, thereby adjusting the angle of the electric actuator 560. The multispectral illumination module 590 supports switching between white light and fluorescence modes. Different tissue types exhibit distinct optical characteristics in each mode, helping surgeons more clearly identify the boundary between lesions and healthy tissue, achieving precise positioning and providing comprehensive and accurate tissue information perception support for surgical procedures.

[0051] For further information, see Figure 10 The control unit 600 of this embodiment also includes a sinus cavity three-dimensional model construction module 630, a surgical path planning module 640, and an AR navigation interface 650; wherein, the sinus cavity three-dimensional model construction module 630 is used to process the data scanned and acquired by the sensor navigation unit 500 to generate an accurate sinus cavity three-dimensional model, and transmit the model data to the surgical path planning module 640. The surgical path planning module 640 plans multiple feasible surgical paths based on the model data and the surgical goals and constraints input by the doctor, and then feeds back the path information to the processor 610. The processor 610 outputs the path information to the AR navigation interface 650, through which the doctor can intuitively preview the surgical path and make manual adjustments.

[0052] Furthermore, the control unit of this embodiment also includes a tactile feedback module 660, which is electrically connected to the processor 610. Preferably, the tactile feedback module 660 is a tactile feedback joystick. The tactile feedback module 660 can transmit the force and direction signals of the doctor's operation to the processor 610 in real time. The processor 610 will also issue corresponding operating instructions to the mechanical wrist assembly 300, the automatic peeling assembly 400, etc. through the execution control module 620 based on the surgical progress and the data feedback from the sensor navigation unit 500, thereby achieving precise control of the surgical instruments.

[0053] Furthermore, the control unit 600 of this embodiment also includes a surgical report generation module 670 and a data storage and backup module 680. The input end of the surgical report generation module 670 is unidirectionally electrically connected to the output end of the processor 610, and the output end of the data storage and backup module 680 is bidirectionally electrically connected to the input end of the processor 610. After the operation is completed, the surgical report generation module 670 is used to receive key surgical data transmitted by the processor 610, including instrument operating parameters, tissue sensing data, surgical images, etc. The data storage and backup module 680 exchanges data bidirectionally with the processor 610, securely storing various types of data generated throughout the entire surgical process and regularly backing up the data to ensure data integrity and traceability, providing strong data support for subsequent medical research, surgical effect evaluation, and patient follow-up.

[0054] The device of this embodiment operates as follows: Detailed data of the patient's maxillary sinus region is acquired through CBCT scanning. The sinus cavity 3D model construction module 630 receives this data and processes it using a specialized algorithm to generate a precise 3D sinus cavity model, presenting the anatomical structure of the maxillary sinus in all directions, including information such as sinus cavity shape, mucosal position, and spatial relationship with surrounding tissues. The surgical path planning module 640, based on the generated 3D sinus cavity model and combined with the surgical objectives input by the surgeon, such as implant placement, expected mucosal elevation range, and other constraints, uses a specific algorithm to plan multiple feasible surgical paths. After planning, the path information is fed back to the processor 610, which outputs the surgical path information to the AR navigation interface 650, through which the surgeon can intuitively preview the surgical path. The surgeon can observe the path's direction in the 3D sinus cavity model from different angles and, based on their clinical experience and judgment of the patient's specific condition, manually adjust the surgical path to determine the ultimate optimal surgical path, laying the foundation for precise intraoperative operation.

[0055] The robotic wrist assembly 300 starts working under the instruction of the execution control module 620. The first robotic arm 310, the second robotic arm 320 and the third robotic arm 330 move in coordination, and the flexible characteristics of the three-degree-of-freedom control robotic wrist assembly 300 are used to realize rotation and displacement in multiple directions in space. Through precise motion control, the robotic wrist assembly 300 accurately delivers the mounting base 700 and the automatic stripping assembly 400 and the sensor navigation unit 500 connected thereto to the target position in the maxillary sinus, providing stable and precise positioning guarantee for subsequent stripping and cutting operations, ensuring that the surgical instruments can accurately reach the mucosal area that needs to be treated. The OCT optical coherence tomography probe 570 of the sensor navigation unit 500 starts working, acquiring high-resolution three-dimensional structural information of the maxillary sinus mucosal tissue in real time, clearly presenting the layers, thickness and internal fine structure of the mucosal tissue. At the same time, the endoscopic camera 580 provides real-time and intuitive images of the surgical area, allowing doctors to directly observe the actual contact between surgical instruments and tissues. The multi-spectral lighting module 590 switches to the appropriate lighting mode, white light or fluorescence. Different tissue types exhibit different optical characteristics in the corresponding mode, helping doctors to more clearly identify the boundary between the diseased area and healthy tissue and achieve precise positioning.

[0056] When a cutting operation is required, the first drive motor 421 is started, and the connecting shell 422 rotates flexibly under the drive of the first drive motor 421, driving the connecting seat 423 and the second drive motor 424 installed in the connecting seat 423 to adjust the position, and the second drive motor 424 drives the adjustment component 435 to start working, and the third drive motor 4252 in the connecting arm 4251 rotates forward and reverse, driving the screw rod 4253 to rotate, so that the movable frame 4254 threadedly connected to the screw rod 4253 moves linearly along the screw rod 4253, and the rotating rod 4258 connected to the fourth drive motor 4257 passes through the inner cavity of the connecting arm 4251 and is fixed to the cutter 426. With the movement of the movable frame 4254 and the rotation control of the rotating rod 4258 by the fourth drive motor 4257, the cutter 426 can be adjusted in position and angle in multiple dimensions to meet the precise cutting requirements in different surgical scenarios. The slide bar 4256 is slidably connected to the movable seat 4255 to provide guidance and stable support for the smooth movement of the movable frame 4254, thereby ensuring the accuracy and stability of the adjustment process of the cutter 426.

[0057] The flexible stripper 410 is designed with a flexible stripping manipulator that imitates octopus tentacles. It has 8-way motion branches and can flexibly adapt to the complex and changeable anatomical structure in the maxillary sinus. It is fixedly connected to a MEMS thin film pressure sensor array inside, which can accurately sense the pressure changes when it comes into contact with the mucosal tissue during the stripping process in real time. When the pressure data exceeds the preset safety range, the pressure data will be promptly fed back to the processor. The processor 610 adjusts the movement posture and strength of the flexible stripper 410 through the execution control module 620 according to the feedback signal, so as to accurately control the stripping force, avoid excessive damage to the mucosa, and significantly improve the safety and accuracy of the stripping operation.

[0058] In summary, the oral implant maxillary sinus mucosa automatic induction stripping device provided in this embodiment can achieve the following technical effects:

[0059] 1. This embodiment effectively avoids the high-risk issues in traditional surgery through the collaborative operation of multiple modules. The sensor navigation unit 500 collects comprehensive information of mucosal tissue in real time. After analysis by the processor 610, the operating force and direction of the mechanical wrist component 300 and the automatic stripping component 400 are precisely controlled. This can effectively reduce the risk of mucosal perforation caused by local stress concentration in traditional surgery, greatly reduce the incidence of postoperative complications, and effectively ensure the patient's surgical safety and postoperative recovery effect.

[0060] 2. This embodiment uses the sinus cavity three-dimensional model construction module 630 and the surgical path planning module 640 to generate an accurate model and plan the path based on CBCT data. Combined with the AR navigation interface 650, it allows doctors to have a clear and intuitive understanding of the surgical path. The high-precision positioning of the mechanical wrist assembly 300, the flexible adaptability of the flexible stripper 410, and the tactile feedback module 660 assist doctors in accurately sensing the operating force. Combined with fully automated navigation, it solves the problem of stripping deviation caused by limited field of view and subjective experience errors in traditional surgery, significantly improves surgical accuracy and efficiency, and provides reliable protection for oral implant surgery in complex cases.

[0061] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. An automatic induction stripping device for maxillary sinus mucosa of oral implants, characterized in that: It includes a base, on which an organism is fixedly connected, and on which a mechanical wrist component, an automatic peeling component, a sensor navigation unit and a control unit are provided; The mechanical wrist assembly is mounted on the machine body, and its free end is fixedly connected to the automatic peeling assembly. The mechanical wrist assembly is used to drive the automatic peeling assembly to move to a target position, and the automatic peeling assembly is used to perform a peeling operation; The sensor navigation unit is used to obtain high-resolution three-dimensional structural information of the maxillary sinus mucosa tissue and surgical area images in real time and send them to the control unit; The control unit includes a processor and an execution control module. The processor is used to send corresponding operation instructions to the execution control module based on the surgical progress and the data feedback from the sensor navigation unit to control the operation of the robotic wrist assembly and the automatic peeling assembly to achieve precise control of the surgical instrument.

2. The oral implant maxillary sinus mucosa automatic induction stripping device according to claim 1, characterized in that: The control unit also includes a sinus cavity three-dimensional model building module, a surgical path planning module and a navigation interface; The sinus cavity three-dimensional model construction module is used to process the data obtained by the scanning of the sensor navigation unit to generate an accurate three-dimensional model of the sinus cavity, and transmit the model data to the surgical path planning module; the surgical path planning module plans multiple feasible surgical paths based on the model data and the surgical goals and constraints input by the doctor, and then feeds back these path information to the processor; the processor outputs the path information to the navigation interface, and the doctor can intuitively preview the surgical path through the navigation interface and make manual adjustments.

3. The oral implant maxillary sinus mucosa automatic induction stripping device according to claim 1, characterized in that: The automatic stripping assembly includes a flexible stripper for stripping mucosal tissue and a cutting assembly for performing a cutting operation.

4. The oral implant maxillary sinus mucosa automatic induction stripping device according to claim 3, characterized in that: One side of the flexible stripper is fixedly connected to the free end of the mechanical wrist assembly, and the cutting assembly includes a first drive motor, a connecting shell, a connecting seat, a second drive motor, an adjustment assembly and a cutter. The first drive motor is fixedly connected to the flexible stripper, and the output end of the first drive motor is fixedly connected to the connecting shell, and one side of the bottom of the connecting shell is fixedly connected to the connecting seat. The second drive motor is fixedly installed on the connecting seat, and the output end of the second drive motor is fixedly connected to the adjustment assembly. The adjustment assembly is used to adjust the orientation of the cutter, and its free end is fixedly connected to the cutter.

5. The oral implant maxillary sinus mucosa automatic induction stripping device according to claim 4, characterized in that: The adjusting assembly includes a connecting arm, a third driving motor, a screw rod, a movable frame, a movable seat, a sliding rod, a fourth driving motor and a rotating rod; one side of the connecting arm is fixedly connected to the output end of the second driving motor, and a partition is provided on one side of the inner cavity of the connecting arm, the third driving motor is fixed on the partition, the output end of the third driving motor is coaxially connected to the screw rod, the screw rod is threadedly connected to one end of the movable frame, and the movable seat is fixed to the other end of the movable frame; the sliding rod is fixed in the connecting arm, and its length direction is parallel to the length direction of the connecting arm, and the movable seat is slidably sleeved on the periphery of the sliding rod; the fourth driving motor is fixed on the movable seat, the rotating rod is coaxially connected to the output end of the fourth driving motor, and the cutter is fixedly connected to the rotating rod.

6. The oral implant maxillary sinus mucosa automatic induction stripping device according to claim 3, characterized in that: The flexible stripper is designed with a flexible stripping manipulator that imitates an octopus tentacle. A pressure sensor array is fixedly connected to the inside of the stripper to accurately sense the pressure changes when in contact with the mucosal tissue in real time. When the pressure data exceeds the preset safety range, the pressure sensor array promptly feeds back these pressure change signals to the processor. Based on the feedback signal, the processor adjusts the movement posture and strength of the flexible stripper through the execution control module to regulate the stripping operation.

7. The oral implant maxillary sinus mucosa automatic induction stripping device according to claim 2, characterized in that: The control unit further includes a tactile feedback module, which is electrically connected to the processor and is used to transmit force and direction signals during the doctor's operation to the processor in real time.

8. The oral implant maxillary sinus mucosa automatic induction stripping device according to claim 2, characterized in that: The control unit also includes a surgical report generation module and a data storage and backup module. The input end of the surgical report generation module is unidirectionally electrically connected to the output end of the processor, and the output end of the data storage and backup module is bidirectionally electrically connected to the input end of the processor; the surgical report generation module is used to receive key data of the surgical process transmitted by the processor after the operation is completed, and automatically generate a detailed surgical report; the data storage and backup module is used to safely store various types of data generated during the entire surgical process and back up them regularly.

9. The oral implant maxillary sinus mucosa automatic induction stripping device according to claim 1, characterized in that: The robotic wrist assembly is a three-degree-of-freedom mechanical control wrist, which includes a first robotic arm, a second robotic arm and a third robotic arm. One end of the first robotic arm is movably connected to the body, and the other end is movably connected to one end of the second robotic arm. The other end of the second robotic arm is movably connected to one end of the third robotic arm, and the other end of the third robotic arm is fixedly connected to the automatic peeling assembly.

10. The oral implant maxillary sinus mucosa automatic induction stripping device according to claim 1, characterized in that: A mounting base is also provided between the robotic wrist assembly and the automatic stripping assembly. The sensing navigation unit includes a fixed base, a fifth drive motor, a circular gear, a sector gear, an adjustment frame, an electric push rod, an OCT optical coherence tomography probe and an endoscopic camera. The fixed base is fixedly connected to the mounting base. The fifth drive motor is fixed on the fixed base. The circular gear and the sector gear are both installed on the mounting base and mesh with each other. The rotating shaft of the fifth drive motor is fixedly connected to the circular gear. One end of the adjustment frame is fixedly connected to the sector gear, and the other end is fixedly connected to the OCT optical coherence tomography probe and the endoscopic camera.

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