Mandibular angle osteotomy operation robot system

Abstract

The invention provides a mandibular angle osteotomy surgical robot system which is characterized in that an osteotomy guide plate assembly comprises a first osteotomy guide plate and a second osteotomy guide plate, the second osteotomy guide plate comprises a supporting guide plate and a fixed guide plate, and the supporting guide plate and the fixed guide plate are assembled to form an osteotomy groove body; the special-shaped scalpel comprises a saw blade part and a handle part, the handle part is provided with a bent structure, and an observation space is formed below the handle part. The driving module is used for driving the special-shaped scalpel to execute cutting operation according to a preset track; the monitoring module monitors the cutting operation state of the saw blade part through the observation space; the main control module is used for establishing a human jaw three-dimensional model, generating a personalized osteotomy guide plate assembly based on the human jaw three-dimensional model, obtaining the cutting operation state of the saw blade part through the monitoring module, and controlling the special-shaped scalpel to execute cutting operation through the driving module.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and in particular relates to a mandibular angle osteotomy surgical robot system. Background Art

[0002] Mandibular angle osteotomy is a plastic surgery procedure whose main purpose is to improve facial contours, especially when the mandibular angle is too prominent or the facial lines are not soft enough. By removing excess bone from the mandibular angle (such as a protruding or right-angled mandibular angle), the "square face" or wide lower facial contour can be improved.

[0003] Under existing technology, mandibular angle osteotomy surgery can be equipped with auxiliary devices such as osteotomy guides and drive modules. However, conventional osteotomy guides are prone to loose fixation. If the osteotomy guide does not fit tightly against the bone surface during surgery, it can easily shift due to instrument vibration or soft tissue traction, causing the osteotomy path to deviate, increasing the risk of nerve damage or accidental fractures. Furthermore, the osteotomy guide can only determine the surgical range, but cannot accurately guide the surgical direction. Furthermore, existing scalpels have an extremely narrow surgical field of view. In the confined space within the mouth, it is difficult to observe the scalpel's real-time posture and position, which can easily affect surgical performance. Summary of the Invention

[0004] The present invention aims to provide a mandibular angle osteotomy surgical robot system to solve the technical problems in the existing technology that conventional mandibular angle osteotomy surgery is difficult to accurately guide the osteotomy route and accurately monitor and feedback the cutting status of the scalpel.

[0005] To solve the above problems, the technical solution of the present invention is: a mandibular angle osteotomy surgical robot system, comprising: An osteotomy guide assembly, the osteotomy guide assembly comprising a first osteotomy guide and a second osteotomy guide arranged on both sides, the first osteotomy guide being used to locate a fixed point of the second osteotomy guide; the second osteotomy guide comprising a supporting guide and a fixing guide, the supporting guide and the fixing guide forming an osteotomy trough after being assembled; A special-shaped scalpel, comprising a saw blade and a handle, wherein the saw blade is configured to reciprocate along the extension direction of the osteotomy trough, and the handle is provided with a bending structure, forming an observation space below the handle along the axis direction of the special-shaped scalpel; A driving module, wherein a power end of the driving module is fixedly connected to the proximal end of the handle portion and is used to drive the special-shaped scalpel to perform a cutting operation according to a preset trajectory; a monitoring module, wherein a measuring end of the monitoring module is arranged in the observation space and monitors the cutting operation status of the saw blade through the observation space; A main control module is electrically connected to the driving module and the monitoring module, and is used to establish a three-dimensional model of the human jaw, generate a personalized osteotomy guide assembly based on the three-dimensional model of the human jaw, and obtain the cutting operation status of the saw blade part through the monitoring module, and control the special-shaped scalpel to perform the cutting operation through the driving module.

[0006] Preferably, the first osteotomy guide plate includes a fixing portion, a connecting portion and a positioning portion; An open dental mold cavity is provided inside the fixing portion, and the dental mold cavity is adapted to the shape of the mandibular teeth, so that the fixing portion is sleeved on the mandibular teeth and is used to fix the first osteotomy guide plate on the mandibular body to maintain a fixed position; The positioning portion is attached to the surface of the mandibular body, and a first positioning hole and a second positioning hole are opened in the positioning portion, and the first positioning hole and the second positioning hole are respectively used to locate the position of the screw hole to be opened on the surface of the mandibular body; The connecting portion is used to securely connect the fixing portion and the positioning portion.

[0007] Preferably, the support guide plate is provided with an accommodating cavity inside and an opening at the top, and the inner surface of the accommodating cavity is adapted to the outer shape of the mandibular angle area, so that the support guide plate is sleeved on the mandibular angle; A first connecting hole is formed in the support guide plate; A second connecting hole and a fixing hole are provided in the fixing guide plate, so that the first connecting hole and the second connecting hole are coaxially arranged, and a connecting piece is passed through to fix the supporting guide plate and the fixing guide plate; the fixing hole and the screw hole are coaxially arranged, and a connecting piece is passed through to fix the second osteotomy guide plate to maintain a fixed position on the mandibular body.

[0008] Preferably, after the support guide plate and the fixed guide plate are assembled, the osteotomy trough is formed between the top opening edge of the support guide plate on the outside of the mandibular body and the bottom edge of the fixed guide plate on the outside of the mandibular body, and the extension direction of the osteotomy trough is configured to be consistent with the preset osteotomy route, and the width of the osteotomy trough is adapted to the thickness of the saw blade portion.

[0009] Preferably, the support guide plate is provided with the first connecting hole at one end close to the mandibular ramus and at one end away from the mandibular ramus respectively; The fixed guide plate includes a first fixed guide plate and a second fixed guide plate, the first fixed guide plate and the second fixed guide plate are L-shaped structures, the first fixed guide plate forms a first bent portion on a side close to the mandibular ramus, the second connecting hole of the first fixed guide plate is provided on the first bent portion and is coaxially arranged with the first connecting hole at an end of the support guide plate close to the mandibular ramus; the fixing hole of the first fixed guide plate is provided at an end away from the mandibular ramus; The second fixing guide plate forms a second bent portion on a side away from the mandibular ramus, the second connecting hole of the second fixing guide plate is provided on the second bent portion and is coaxially arranged with the first connecting hole on the end of the support guide plate away from the mandibular ramus; the fixing hole of the second fixing guide plate is provided on an end close to the mandibular ramus; The second osteotomy guide plate is configured such that, after the first fixed guide plate and the support guide plate are assembled, the osteotomy trough formed covers an osteotomy route of a first distance; and after the second fixed guide plate and the support guide plate are assembled, the osteotomy trough formed covers an osteotomy route of a second distance.

[0010] Preferably, the first fixed guide plate extends to one end of the mandibular ramus to form a curved portion curved toward the inner side of the mandibular ramus, and the curved portion is connected to the mandibular ramus by hooking. After the first fixed guide plate and the support guide plate are assembled, the force center point between the curved portion of the first fixed guide plate and the mandibular ramus, the force center point between the support guide plate and the mandibular angle, and the force point of the fixing hole of the first fixed guide plate are arranged in an equilateral triangle. After the second fixed guide plate and the support guide plate are assembled, the force point of the fixing hole of the second fixed guide plate, the force center point of the support guide plate and the mandibular angle, and the center point of the second bending portion of the second fixed guide plate are arranged in an equilateral triangle.

[0011] Preferably, the main control module is configured to obtain the crown surface morphology, tooth adjacency relationship and dental arch curve through an intraoral scanner, generate a tooth model, and establish a dental mold cavity based on the tooth model; Complete DICOM data of the human mandible was acquired using cone-beam CT. The DICOM data was converted into an STL surface mesh using the Mimics system and then imported into 3-matic software for cavity repair and curvature smoothing. The mandibular posture was corrected based on the positions of the mental foramen, mandibular canal, lower edge of the mandible, and alveolar ridge top to generate a three-dimensional model of the human mandible. The fitting surface morphologies of the first and second osteotomy guides and the mandibular body were established based on the surface morphology of the three-dimensional model of the human mandible. Furthermore, a preset osteotomy route is simulated according to a three-dimensional model of the human jaw, and based on the extension direction of the osteotomy route and the thickness of the saw blade, a planar geometric shape contour of a support guide plate and a fixed guide plate adapted to the osteotomy route is generated.

[0012] Preferably, the main control module is further configured to perform mesh division on the three-dimensional model of the human jaw, and perform local mesh encryption processing on the stress concentration areas of the mandibular angle, mandibular floor, and mandibular ramus; Using implicit surface technology to create support guides and fixed guides of initial thickness, simulate cutting along the osteotomy route for a three-dimensional model of the human jaw, calculate the peak stress of each node of the three-dimensional model of the human jaw based on finite element analysis, and generate support guides and fixed guides of different thicknesses that are adapted to the peak stress of each node of the three-dimensional model of the human jaw; Moreover, the support guide plate and the fixed guide plate adopt non-uniform thickness gradient curved surfaces, and the thickness of the support guide plate and the fixed guide plate gradually becomes thinner along the side toward the osteotomy groove body, so as to buffer the vibration of the saw blade part through slight elastic deformation.

[0013] Preferably, the monitoring module includes a first camera and a second camera in parallel, the first camera and the second camera move synchronously with the special-shaped scalpel, and the plane where the optical axes of the first camera and the second camera are located is always arranged parallel to the surface of the real-time cutting area of the saw blade; The monitoring module is configured such that the first camera and the second camera are respectively used to capture image data of the blade surfaces on both sides of the saw blade in real time. When the saw blade is perpendicular to the cutting surface, the image data of the saw blade captured by the first camera and the second camera are used as reference images. When the special-shaped scalpel performs a cutting operation, when the area and shape difference between the real-time image captured by the first camera and the second camera and the reference image exceeds a threshold, the monitoring module outputs a feedback signal to the main control module.

[0014] Preferably, the saw blade is provided at the distal end of the special-shaped scalpel and extends along the length direction of the special-shaped scalpel; The handle portion includes a first connecting segment, a second connecting segment, and a third connecting segment arranged from a distal end to a proximal end. The distal end of the first connecting segment is fixedly connected to the proximal end of the saw blade portion. A first bending angle is formed between the continuous first connecting segment and the second connecting segment, and a second bending angle is formed between the continuous second connecting segment and the third connecting segment. The handle portion extends along the length direction of the special-shaped scalpel. The central axis of the handle portion is located vertically above the central axis of the saw blade portion, and the two are kept horizontally arranged. The special-shaped scalpel is configured to form an observation space below the second connecting section and the third connecting section, and the cutting operation status of the saw blade is observed through the observation space along the axial direction of the special-shaped scalpel.

[0015] Due to the adoption of the above technical solution, the present invention has the following advantages and positive effects compared with the prior art: The present invention provides a mandibular angle osteotomy surgical robot system, comprising an osteotomy guide assembly, a special-shaped scalpel, a drive module, a monitoring module and a main control module. The osteotomy guide assembly comprises a first osteotomy guide and a second osteotomy guide. After the two are assembled, they can be firmly fixed on the mandibular body and form an osteotomy trough. The special-shaped scalpel is provided with a bending structure, and an observation space is formed below the handle of the special-shaped scalpel. When the special-shaped scalpel performs a cutting action along the osteotomy trough, the monitoring module can accurately monitor the cutting state of the saw blade of the special-shaped scalpel through the observation space, and the main control module and the drive module can realize precise adjustment of the cutting action and posture of the special-shaped scalpel based on feedback control. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic structural diagram of a first osteotomy guide plate provided by the present invention; Figure 2 A schematic structural diagram of a second osteotomy guide plate composed of a first fixed guide plate and a support guide plate provided by the present invention; Figure 3 A schematic structural diagram of a second osteotomy guide plate composed of a second fixed guide plate and a support guide plate provided by the present invention; Figure 4 A schematic structural diagram of the special-shaped scalpel provided by the present invention; Figure 5 A schematic structural diagram of the mandibular angle osteotomy surgical robot system provided by the present invention.

[0017] Explanation of the reference numerals: 1: first osteotomy guide; 2: fixing part; 3: connecting part; 4: positioning part; 401: first positioning hole; 402: second positioning hole; 5: second osteotomy guide; 6: supporting guide; 601: first connecting hole; 7: first fixing guide; 701: first bending part; 702: second connecting hole; 703: fixing hole; 704: bending part; 8: second fixing guide; 801: second bending part; 9: osteotomy trough; 10: mandibular angle; 11: mandibular ramus; 12: special-shaped scalpel; 1201: saw blade; 1202: first connecting segment; 1203: second connecting segment; 1204: third connecting segment; 13: observation space; 14: first camera; 15: second camera. DETAILED DESCRIPTION

[0018] The advantages and features of the present invention will become more apparent from the following description and claims.

[0019] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0020] In addition, in the description of this application, "proximal end" and "distal end" are commonly used terms in the medical field. Specifically, the "proximal end" refers to the end closest to the operator, the "proximal surface" refers to the end closest to the operator, the "distal end" refers to the end away from the operator, and the "distal surface" refers to the end away from the operator.

[0021] See Figure 1-Figure 5 This embodiment provides a mandibular angle osteotomy surgical robot system for performing automatic mandibular angle osteotomy surgery. The main structure of the system includes an osteotomy guide assembly, a special-shaped scalpel 12, a driving module, a monitoring module, and a main control module.

[0022] The osteotomy guide assembly includes a first osteotomy guide 1 and a second osteotomy guide 5 arranged bilaterally. Since mandibular angle osteotomy surgery typically requires cutting the mandibular angle 10 on both sides of the patient, two sets of first and second osteotomy guides 1 and 5 are provided, one on each side of the patient's mandible. The first osteotomy guide 1 is used to locate the fixed point of the second osteotomy guide 5. The second osteotomy guide 5 further includes a support guide 6 and a fixed guide. When assembled, the support guide 6 and the fixed guide form an osteotomy trough 9, which indicates the osteotomy path.

[0023] The special-shaped scalpel 12 includes a saw blade 1201 and a handle. The saw blade 1201 is configured to reciprocate along the extension direction of the osteotomy trough 9. That is, the osteotomy trough 9 is used to limit the cutting path of the saw blade 1201, thereby improving cutting accuracy. The handle is provided with a bending structure, and an observation space 13 is formed below the handle along the axis of the special-shaped scalpel 12. In conventional mandibular angle osteotomy surgery, due to the small intraoral space and the human cheek being in contact with the outer side of the jaw, when the scalpel is inserted deep into the oral cavity, there are visual obstructions to the sides and rear of the blade (the handle of a conventional scalpel). The operator cannot easily and accurately observe the position of the scalpel blade, resulting in poor controllability and cutting accuracy of the scalpel. In this embodiment, by providing the observation space 13, the cutting status of the saw blade 1201 can be observed through the observation space 13 along the axis of the special-shaped scalpel 12.

[0024] The power end of the driving module is fixedly connected to the proximal end of the handle part, and is used to drive the special-shaped scalpel 12 to perform cutting operations according to a preset trajectory. The power end of the driving module can control the special-shaped scalpel 12 to achieve 360° rotation, horizontal and vertical movement.

[0025] The measuring end of the monitoring module is arranged in the observation space 13 , and monitors the cutting operation status of the saw blade portion 1201 through the observation space 13 , and generates feedback data to be transmitted to the main control module.

[0026] The main control module is electrically connected to the driving module and the monitoring module, and is used to establish a three-dimensional model of the human jaw, generate a personalized osteotomy guide assembly based on the three-dimensional model of the human jaw, and obtain the cutting operation status of the saw blade part 1201 through the monitoring module, and control the special-shaped scalpel 12 to perform the cutting operation through the driving module.

[0027] In summary, this embodiment provides a mandibular angle osteotomy surgical robot system, which can accurately determine the osteotomy path through the osteotomy guide assembly, provide a path guidance function for the special-shaped scalpel 12 to perform cutting operations, and prevent the special-shaped scalpel 12 from causing osteotomy deviation and damaging key parts such as the mandibular nerve and blood vessels. At the same time, the special-shaped scalpel 12 is formed with an observation space 13, and the cutting status of the saw blade part 1201 can be directly observed through the observation space 13, effectively improving the surgical field of the special-shaped scalpel 12. Furthermore, a monitoring module is configured to monitor the cutting operation status of the saw blade part 1201 in real time through the observation space 13. When the saw blade part 1201 has a posture or moving direction deviation, the main control module and the drive module can quickly adjust the special-shaped scalpel 12, effectively improving the degree of automation and control accuracy of the mandibular angle osteotomy surgery.

[0028] The following further details the specific components, structure, and functions of the mandibular angle osteotomy surgical robot system provided in this embodiment: Preferably, in one embodiment, the first osteotomy guide plate 1 includes a fixing portion 2 , a connecting portion 3 and a positioning portion 4 .

[0029] An open dental mold cavity is provided inside the fixing part 2, and the dental mold cavity is adapted to the shape of the mandibular teeth. During the assembly process of the first osteotomy guide 1, the fixing part 2 can be sleeved on the mandibular teeth to fix the first osteotomy guide 1 in a fixed position on the mandibular body.

[0030] The positioning part 4 is attached to the surface of the mandibular body, and a first positioning hole 401 and a second positioning hole 402 are provided in the positioning part 4. The first positioning hole 401 and the second positioning hole 402 are respectively used to locate the positions of the screw holes to be opened on the surface of the mandibular body. The screw holes are the fixing points of the second osteotomy guide 5.

[0031] The connecting part 3 is used to securely connect the fixing part 2 and the positioning part 4, so that the overall structure of the first osteotomy guide 1 formed by the fixing part 2, the connecting part 3 and the positioning part 4 is stable, and the precise positioning of the screw hole is achieved, that is, the subsequent screw hole and the second osteotomy guide 5 are precisely docked and fixed.

[0032] Furthermore, in one embodiment, the support guide plate 6 is an arc-shaped structure with a receiving cavity inside and an opening on the top. The inner surface of the receiving cavity is adapted to the outer shape of the mandibular angle 10 area, so that the support guide plate 6 can be mounted on the mandibular angle 10.

[0033] A first connection hole 601 is defined in the support guide plate 6 , and the first connection hole 601 is preferably a three-hole structure.

[0034] The fixed guide plate is provided with a second connecting hole 702 and a fixing hole 703. The first connecting hole 601 and the second connecting hole 702 are adapted to be coaxially arranged. A connecting member is provided through the connecting hole (this connecting member only passes through the second connecting hole 702 and the first connecting hole 601 in sequence and does not need to pierce the mandibular body) to securely connect the support guide plate 6 to the fixed guide plate. Furthermore, the fixing hole 703 is coaxially arranged with the screw hole, and a connecting member is provided through the connecting hole (this connecting member needs to pass through the fixing hole 703 and then be fixedly connected to the screw hole) to secure the second osteotomy guide plate 5 to maintain a fixed position on the mandibular body.

[0035] Furthermore, after the support guide plate 6 and the fixed guide plate are assembled, an osteotomy groove 9 is formed between the top opening edge of the support guide plate 6 on the outside of the mandibular body and the bottom edge of the fixed guide plate on the outside of the mandibular body. By limiting the shape and size when preparing the support guide plate 6 and the fixed guide plate, the extension direction of the osteotomy groove 9 finally formed is consistent with the preset osteotomy route, and the width of the osteotomy groove 9 is adapted to the thickness of the saw blade part 1201, ensuring the accuracy and stability of the saw blade part 1201 during the cutting process.

[0036] Furthermore, in one embodiment, the support guide plate 6 is provided with first connection holes 601 at an end close to the mandibular ramus 11 and an end away from the mandibular ramus 11 , respectively. That is, two groups of first connection holes 601 are provided.

[0037] The fixed guide plate includes a first fixed guide plate 7 and a second fixed guide plate 8. The first fixed guide plate 7 and the second fixed guide plate 8 are L-shaped structures. The first fixed guide plate 7 forms a first bending portion 701 on the side close to the mandibular ramus 11. The second connecting hole 702 of the first fixed guide plate 7 is provided on the first bending portion 701 and is coaxially arranged with the first connecting hole 601 at one end of the support guide plate 6 close to the mandibular ramus 11. That is, the first fixed guide plate 7 and the support guide plate 6 are fixedly connected through the first bending portion 701 of the first fixed guide plate 7.

[0038] The fixing hole 703 of the first fixing guide plate 7 is provided at an end away from the mandibular ramus 11 and is coaxially arranged with the screw hole corresponding to the first positioning hole 401 .

[0039] The second fixed guide plate 8 forms a second bent portion 801 on the side away from the mandibular ramus 11. The second connecting hole 702 of the second fixed guide plate 8 is provided on the second bent portion 801 and is coaxially arranged with the first connecting hole 601 at the end of the support guide plate 6 away from the mandibular ramus 11. That is, the second fixed guide plate 8 and the support guide plate 6 are fixedly connected through the second bent portion 801 of the second fixed guide plate 8.

[0040] The fixing hole 703 of the second fixing guide plate 8 is provided at one end close to the mandibular ramus 11 and is coaxially arranged with the screw hole corresponding to the second positioning hole 402 .

[0041] In this embodiment, the second osteotomy guide 5 is configured so that after the first fixed guide 7 and the support guide 6 are assembled, the osteotomy groove 9 formed covers the osteotomy route of the first distance, and after the second fixed guide 8 and the support guide 6 are assembled, the osteotomy groove 9 formed covers the osteotomy route of the second distance. After the osteotomy route of the first distance and the osteotomy route of the second distance are combined, the complete osteotomy route can be covered, that is, the connection structure between the support guide 6 and the single fixed guide will inevitably cause certain obstruction to the osteotomy route. Therefore, by setting the first fixed guide 7 and the second fixed guide 8, the mandibular angle 10 is cut in sections, which effectively ensures the cutting accuracy.

[0042] Furthermore, in one embodiment, the first fixed guide plate 7 extends to one end of the mandibular ramus 11 to form a curved portion 704 that curves inwardly toward the mandibular ramus 11. The curved portion 704 is hooked and connected to the mandibular ramus 11, forming a force-bearing point. After the first fixed guide plate 7 and the support guide plate 6 are assembled, the three points of force (the curved portion 704 of the first fixed guide plate 7 and the mandibular ramus 11), the force (the support guide plate 6 and the mandibular angle 10), and the force (the fixing hole 703 of the first fixed guide plate 7) form an equilateral triangle.

[0043] Similarly, after the second fixed guide plate 8 and the support guide plate 6 are assembled, the force point of the fixing hole 703 of the second fixed guide plate 8, the force center point of the support guide plate 6 and the mandibular angle 10, and the center point of the second bending portion 801 of the second fixed guide plate 8 are arranged in an equilateral triangle.

[0044] In this embodiment, the three-point mechanical balance can effectively suppress the rotational displacement of the second osteotomy guide plate 5 during the cutting process. Experiments have shown that the anti-rotational stability of the second osteotomy guide plate 5 provided in this embodiment is 2.8 times higher than that of the traditional single guide plate (which only includes a similar guide plate structure of the support guide plate 6 in this embodiment).

[0045] Preferably, in one embodiment, the main control module is configured to, first, obtain the crown surface morphology, tooth adjacent relationship and dental arch curve through an intraoral scanner, thereby generating a tooth model, and establish a dental mold cavity based on the tooth model, so that the dental mold cavity is fully adapted to the patient's mandibular teeth.

[0046] Then a 3D model of the human jaw was built, including: Image acquisition: DICOM data of the complete human mandible were acquired by cone-beam CT, with slice thickness ≤ 0.2 mm and spatial resolution ≤ 0.1 mm.

[0047] Geometric reconstruction: DICOM data was converted into STL surface meshes using the Mimics system, and then imported into the 3-matic software for cavity repair and curvature smoothing to ensure that the curvature changes were continuous and met the NURBS standard.

[0048] Posture correction: The mandibular posture is corrected according to the positions of the mental foramen, mandibular canal, lower edge of the mandible and alveolar ridge top, and a three-dimensional model of the human jaw with forward arrangement is generated to facilitate analysis and determination of the actual cutting position of the mandibular bodies on both sides.

[0049] Finally, based on the surface morphology of the human jaw three-dimensional model, the fitting surface morphology of the first osteotomy guide plate 1 and the second osteotomy guide plate 5 and the mandibular body is established, so that the positioning plate of the first osteotomy guide plate 1, the supporting guide plate 6 and the fixing guide plate of the second osteotomy guide plate 5 can be fully fitted on the surface of the mandibular body, thereby improving the stability of the first osteotomy guide plate 1 and the second osteotomy guide plate 5.

[0050] Moreover, the preset osteotomy route is simulated according to the three-dimensional model of the human jaw. The preset osteotomy route needs to avoid the neurovascular bundle, joint structure and other parts. Based on the extension direction of the osteotomy route and the thickness of the saw blade 1201, the planar geometric shape contours of the support guide plate 6 and the fixed guide plate that are adapted to the osteotomy route are generated. That is, when the support guide plate 6 and the fixed guide plate are assembled, the generated osteotomy trough 9 can be completely matched with the preset osteotomy route.

[0051] Furthermore, in one embodiment, the main control module is further configured to: Stress analysis: The three-dimensional model of the human jaw is meshed, and local mesh encryption is performed in the stress concentration areas of the mandibular angle 10, mandibular floor, and mandibular ramus 11 to capture subtle stress gradient changes.

[0052] Implicit surface technology is used to create support guide plates 6 and fixed guide plates with initial thickness. Simulated cutting is performed along the osteotomy route for the three-dimensional model of the human jaw. The peak stress of each node of the three-dimensional model of the human jaw is calculated based on the finite element analysis method, and the thickness of the support guide plates 6 and fixed guide plates is adjusted to generate support guide plates 6 and fixed guide plates with different thicknesses that are adapted to the peak stress of each node of the three-dimensional model of the human jaw.

[0053] Moreover, the support guide plate 6 and the fixed guide plate adopt a non-uniform thickness gradient surface, and the thickness of the support guide plate 6 and the fixed guide plate gradually decreases along the side facing the osteotomy groove 9, so that the edges of the support guide plate 6 and the fixed guide plate facing the osteotomy groove 9 have better elastic deformation ability, which is used to buffer the vibration generated by the saw blade part 1201 during the cutting operation through slight elastic deformation, thereby improving the cutting accuracy and stability of the saw blade part 1201.

[0054] Preferably, in one embodiment, the monitoring module includes a parallel first camera 14 and a second camera 15, the first camera 14 and the second camera 15 move synchronously with the special-shaped scalpel 12, and the plane in which the optical axes of the first camera 14 and the second camera 15 are located is always arranged parallel to the surface of the real-time cutting area of the saw blade part 1201.

[0055] It is worth noting that in this embodiment, the monitoring module and the special-shaped scalpel 12 are independently set and driven. The monitoring module can move synchronously with the special-shaped scalpel 12, which means that when the special-shaped scalpel 12 is arranged vertically with the surface of the object to be cut and moves horizontally or vertically, the monitoring module achieves the same horizontal or vertical movement amount, but when the special-shaped scalpel 12 tilts left or right, the monitoring module still remains parallel to the surface of the real-time cutting area of the saw blade part 1201.

[0056] The monitoring module is configured so that the first camera 14 and the second camera 15 are respectively used to capture real-time image data of the cutting surfaces of the saw blade 1201 on both sides. Before the actual operation, the image data of the saw blade 1201 captured by the first camera 14 and the second camera 15 is used as the reference image when the saw blade 1201 is perpendicular to the cutting surface, thereby achieving calibration of the first camera 14 and the second camera 15.

[0057] When the special-shaped scalpel 12 performs a cutting operation, if the area and shape differences between the real-time image captured by the first camera 14 and the second camera 15 and the reference image exceed a threshold, the monitoring module outputs a feedback signal to the main control module.

[0058] Specifically, the first camera 14 and the second camera 15 capture image data of the blade surfaces on both sides of the saw blade portion 1201 in real time, and pre-process the acquired image data, including edge detection, feature point extraction, etc., thereby calculating the blade surface area and shape data of the real-time image. The real-time image is compared with the area and shape of the reference image. When the area and shape difference between the real-time image and the reference image exceeds a threshold, it proves that the saw blade portion 1201 is tilted left or right, so the image data acquired by the monitoring module will produce area changes and shape distortions. By controlling the saw blade portion 1201 to always be perpendicular to the surface of the bone to be cut, the cutting operation is performed, and inaccurate cutting position due to angle deviation is avoided, thereby reducing additional damage to the surrounding neurovascular tissue and joint structure.

[0059] Preferably, in one embodiment, the saw blade portion 1201 is provided at the distal end of the shaped scalpel 12 and extends along the length direction of the shaped scalpel 12. When the shaped scalpel 12 is set in a cutting posture, the blade wall of the saw blade portion 1201 is arranged perpendicular to the surface of the object to be cut.

[0060] The handle portion includes a first connecting segment 1202, a second connecting segment, and a third connecting segment 1204, arranged from distal to proximal. The distal end of the first connecting segment 1202 is fixedly connected to the proximal end of the saw blade 1201. A first bending angle is formed between the first connecting segment 1202 and the second connecting segment 1203, and a second bending angle is formed between the second connecting segment 1203 and the third connecting segment 1204. The handle portion extends along the length of the special-shaped scalpel 12, with the central axis of the handle portion located vertically above the central axis of the saw blade 1201, and the two are arranged horizontally.

[0061] The special-shaped scalpel 12 is configured to form an observation space 13 below the second connecting section 1203 and the third connecting section 1204. Along the axial direction of the special-shaped scalpel 12, the cutting operation status of the saw blade 1201 can be observed through the observation space 13, thereby effectively improving the surgical field of view of the special-shaped scalpel 12.

[0062] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, if these changes fall within the scope of the claims of the present invention and their equivalents, they still fall within the scope of protection of the present invention.

Claims

1. A mandibular angle osteotomy surgical robot system, characterized in that: include: An osteotomy guide assembly, the osteotomy guide assembly comprising a first osteotomy guide and a second osteotomy guide arranged on both sides, the first osteotomy guide being used to locate a fixed point of the second osteotomy guide; the second osteotomy guide comprising a supporting guide and a fixing guide, the supporting guide and the fixing guide forming an osteotomy trough after being assembled; A special-shaped scalpel, comprising a saw blade and a handle, wherein the saw blade is configured to reciprocate along the extension direction of the osteotomy trough, and the handle is provided with a bending structure, forming an observation space below the handle along the axis direction of the special-shaped scalpel; A driving module, wherein a power end of the driving module is fixedly connected to the proximal end of the handle portion and is used to drive the special-shaped scalpel to perform a cutting operation according to a preset trajectory; a monitoring module, wherein a measuring end of the monitoring module is arranged in the observation space and monitors the cutting operation status of the saw blade through the observation space; A main control module is electrically connected to the driving module and the monitoring module, and is used to establish a three-dimensional model of the human jaw, generate a personalized osteotomy guide assembly based on the three-dimensional model of the human jaw, and obtain the cutting operation status of the saw blade part through the monitoring module, and control the special-shaped scalpel to perform the cutting operation through the driving module.

2. The mandibular angle osteotomy surgical robot system according to claim 1, wherein: The first osteotomy guide plate includes a fixing portion, a connecting portion and a positioning portion; An open dental mold cavity is provided inside the fixing portion, and the dental mold cavity is adapted to the shape of the mandibular teeth, so that the fixing portion is sleeved on the mandibular teeth and is used to fix the first osteotomy guide plate on the mandibular body to maintain a fixed position; The positioning portion is attached to the surface of the mandibular body, and a first positioning hole and a second positioning hole are opened in the positioning portion, and the first positioning hole and the second positioning hole are respectively used to locate the position of the screw hole to be opened on the surface of the mandibular body; The connecting portion is used to securely connect the fixing portion and the positioning portion.

3. The mandibular angle osteotomy surgical robot system according to claim 2, wherein: The support guide plate is provided with a receiving cavity inside and an opening at the top. The inner surface of the receiving cavity is adapted to the outer shape of the mandibular angle area, so that the support guide plate is sleeved on the mandibular angle; A first connecting hole is formed in the support guide plate; A second connecting hole and a fixing hole are provided in the fixing guide plate, so that the first connecting hole and the second connecting hole are coaxially arranged, and a connecting piece is passed through to fix the supporting guide plate and the fixing guide plate; the fixing hole and the screw hole are coaxially arranged, and a connecting piece is passed through to fix the second osteotomy guide plate to maintain a fixed position on the mandibular body.

4. The mandibular angle osteotomy surgical robot system according to claim 3, wherein: After the support guide plate and the fixed guide plate are assembled, the osteotomy trough is formed between the top opening edge of the support guide plate on the outside of the mandibular body and the bottom edge of the fixed guide plate on the outside of the mandibular body. The extension direction of the osteotomy trough is consistent with the preset osteotomy route, and the width of the osteotomy trough is adapted to the thickness of the saw blade.

5. The mandibular angle osteotomy surgical robot system according to claim 4, characterized in that: The support guide plate is provided with the first connecting hole at one end close to the mandibular ramus and at one end away from the mandibular ramus respectively; The fixed guide plate includes a first fixed guide plate and a second fixed guide plate, the first fixed guide plate and the second fixed guide plate are L-shaped structures, the first fixed guide plate forms a first bent portion on a side close to the mandibular ramus, the second connecting hole of the first fixed guide plate is provided on the first bent portion and is coaxially arranged with the first connecting hole at an end of the support guide plate close to the mandibular ramus; the fixing hole of the first fixed guide plate is provided at an end away from the mandibular ramus; The second fixing guide plate forms a second bent portion on a side away from the mandibular ramus, the second connecting hole of the second fixing guide plate is provided on the second bent portion and is coaxially arranged with the first connecting hole on the end of the support guide plate away from the mandibular ramus; the fixing hole of the second fixing guide plate is provided on an end close to the mandibular ramus; The second osteotomy guide plate is configured such that, after the first fixed guide plate and the support guide plate are assembled, the osteotomy trough formed covers an osteotomy route of a first distance; and after the second fixed guide plate and the support guide plate are assembled, the osteotomy trough formed covers an osteotomy route of a second distance.

6. The mandibular angle osteotomy surgical robot system according to claim 5, wherein: The first fixed guide plate extends to one end of the mandibular ramus to form a curved portion that curves toward the inner side of the mandibular ramus, and the curved portion is connected to the mandibular ramus by hooking. After the first fixed guide plate and the support guide plate are assembled, the force center point between the curved portion of the first fixed guide plate and the mandibular ramus, the force center point between the support guide plate and the mandibular angle, and the force point of the fixing hole of the first fixed guide plate are arranged in an equilateral triangle. After the second fixed guide plate and the support guide plate are assembled, the force point of the fixing hole of the second fixed guide plate, the force center point of the support guide plate and the mandibular angle, and the center point of the second bending portion of the second fixed guide plate are arranged in an equilateral triangle.

7. The mandibular angle osteotomy surgical robot system according to claim 1, wherein: The main control module is configured to obtain the crown surface morphology, tooth adjacency relationship and dental arch curve through an intraoral scanner, generate a tooth model, and establish a dental mold cavity based on the tooth model; Complete DICOM data of the human mandible was acquired using cone-beam CT. The DICOM data was converted into an STL surface mesh using the Mimics system and then imported into 3-matic software for cavity repair and curvature smoothing. The mandibular posture was corrected based on the positions of the mental foramen, mandibular canal, lower edge of the mandible, and alveolar ridge top to generate a three-dimensional model of the human mandible. The fitting surface morphologies of the first and second osteotomy guides and the mandibular body were established based on the surface morphology of the three-dimensional model of the human mandible. Furthermore, a preset osteotomy route is simulated according to a three-dimensional model of the human jaw, and based on the extension direction of the osteotomy route and the thickness of the saw blade, a planar geometric shape contour of a support guide plate and a fixed guide plate adapted to the osteotomy route is generated.

8. The mandibular angle osteotomy surgical robot system according to claim 7, wherein: The main control module is further configured to perform mesh division on the three-dimensional model of the human jaw and perform local mesh encryption processing on the stress concentration areas of the mandibular angle, mandibular floor, and mandibular ramus; Using implicit surface technology to create support guides and fixed guides of initial thickness, simulate cutting along the osteotomy route for a three-dimensional model of the human jaw, calculate the peak stress of each node of the three-dimensional model of the human jaw based on finite element analysis, and generate support guides and fixed guides of different thicknesses that are adapted to the peak stress of each node of the three-dimensional model of the human jaw; Moreover, the support guide plate and the fixed guide plate adopt non-uniform thickness gradient curved surfaces, and the thickness of the support guide plate and the fixed guide plate gradually becomes thinner along the side toward the osteotomy groove body, so as to buffer the vibration of the saw blade part through slight elastic deformation.

9. The mandibular angle osteotomy surgical robot system according to claim 1, wherein: The monitoring module includes a first camera and a second camera in parallel, the first camera and the second camera move synchronously with the special-shaped scalpel, and the plane where the optical axes of the first camera and the second camera are located is always arranged parallel to the surface of the real-time cutting area of the saw blade; The monitoring module is configured such that the first camera and the second camera are respectively used to capture image data of the blade surfaces on both sides of the saw blade in real time. When the saw blade is perpendicular to the cutting surface, the image data of the saw blade captured by the first camera and the second camera are used as reference images. When the special-shaped scalpel performs a cutting operation, when the area and shape difference between the real-time image captured by the first camera and the second camera and the reference image exceeds a threshold, the monitoring module outputs a feedback signal to the main control module.

10. The mandibular angle osteotomy surgical robot system according to claim 1, wherein: The saw blade is arranged at the distal end of the special-shaped scalpel and extends along the length direction of the special-shaped scalpel; The handle portion includes a first connecting segment, a second connecting segment, and a third connecting segment arranged from a distal end to a proximal end. The distal end of the first connecting segment is fixedly connected to the proximal end of the saw blade portion. A first bending angle is formed between the continuous first connecting segment and the second connecting segment, and a second bending angle is formed between the continuous second connecting segment and the third connecting segment. The handle portion extends along the length direction of the special-shaped scalpel. The central axis of the handle portion is located vertically above the central axis of the saw blade portion, and the two are kept horizontally arranged. The special-shaped scalpel is configured to form an observation space below the second connecting section and the third connecting section, and the cutting operation status of the saw blade is observed through the observation space along the axial direction of the special-shaped scalpel.

Images