A robot system for mandibular angle osteotomy surgery

Abstract

The application provides a mandibular angle osteotomy robot system, an osteotomy guide plate assembly includes a first osteotomy guide plate and a second osteotomy guide plate, the second osteotomy guide plate includes a support guide plate and a fixed guide plate, and the support guide plate and the fixed guide plate are assembled to form an osteotomy groove body; a special-shaped surgical knife includes a saw blade part and a handle part, the handle part is provided with a bending structure, and an observation space is formed below the handle part; a driving module is used for driving the special-shaped surgical knife to perform cutting work according to a preset trajectory; a monitoring module monitors the cutting work state of the saw blade part through the observation space; a main control module is used for establishing a human jawbone three-dimensional model, generating a personalized osteotomy guide plate assembly based on the human jawbone three-dimensional model, acquiring the cutting work state of the saw blade part through the monitoring module, and controlling the special-shaped surgical knife to perform cutting work through the driving module.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, and in particular relates to a surgical robot system for mandibular angle osteotomy. Background Technology

[0002] Jaw angle reduction surgery is a plastic surgery procedure whose main purpose is to improve facial contours, especially for cases where the jaw angle is too prominent or the facial lines are not soft enough. It improves the "square face" or wide lower facial contours by removing excess bone from the jaw angle (such as everted or right-angled jaw angles).

[0003] Under current technology, mandibular angle osteotomy can be performed with auxiliary devices such as osteotomy guides and drive modules. However, conventional osteotomy guides are prone to insecure fixation. If the osteotomy guide is not tightly attached to the bone surface during the operation, it is easy for it to shift due to instrument vibration or soft tissue traction, resulting in deviation of the osteotomy path and increasing the risk of nerve damage or accidental fracture. Moreover, the osteotomy guide can only determine the surgical trimming range and cannot accurately guide the surgical direction. At the same time, the existing scalpel has an extremely narrow surgical field of view. In the confined space inside the mouth, it is difficult to observe the real-time posture and position of the scalpel, which can easily affect the surgical operation. Summary of the Invention

[0004] This invention provides a robotic system for mandibular angle osteotomy surgery to solve the technical problem that conventional mandibular angle osteotomy surgery is difficult to achieve precise guidance of the osteotomy route and accurate monitoring and feedback adjustment of the scalpel cutting state.

[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 plate assembly includes a first osteotomy guide plate and a second osteotomy guide plate arranged on both sides. The first osteotomy guide plate is used to position the fixing points of the second osteotomy guide plate. The second osteotomy guide plate includes a supporting guide plate and a fixing guide plate. The supporting guide plate and the fixing guide plate are assembled to form an osteotomy groove. A non-standard surgical scalpel, comprising a saw blade and a handle, wherein the saw blade is configured to reciprocate along the extension direction of the osteotomy groove, and the handle is provided with a bending structure, forming an observation space below the handle along the axial direction of the non-standard surgical scalpel; A drive module, wherein the power end of the drive module is fixedly connected to the proximal end of the handle, and is used to drive the irregular surgical knife to perform cutting operations according to a preset trajectory; A monitoring module, wherein the measuring end of the monitoring module is arranged in the observation space, and the cutting operation status of the saw blade is monitored through the observation space; The main control module, which is electrically connected to the drive module and the monitoring module, is used to establish a three-dimensional model of the human jawbone, generate a personalized osteotomy guide plate assembly based on the three-dimensional model of the human jawbone, and obtain the cutting operation status of the saw blade through the monitoring module and control the special-shaped surgical knife to perform the cutting operation through the drive module.

[0006] Preferably, the first osteotomy guide plate includes a fixing part, a connecting part, and a positioning part; The fixing part has an open dental mold cavity inside, which is adapted to the shape of the mandibular tooth so that the fixing part is fitted onto the mandibular tooth to fix the first osteotomy guide plate in a fixed position on the mandibular body. The positioning part fits against the surface of the mandibular body, and the positioning part is provided with a first positioning hole and a second positioning hole. The first positioning hole and the second positioning hole are respectively used to position the screw holes that need to be opened on the surface of the mandibular body. The connecting part is used to fix the fixing part and the positioning part.

[0007] Preferably, the support guide plate has an internal accommodating cavity and an opening at the top. The inner surface of the accommodating cavity is adapted to the outer shape of the mandibular angle region, so that the support guide plate is fitted onto the mandibular angle. The support guide plate has a first connecting hole; The fixed guide plate has a second connecting hole and a fixing hole, with the first connecting hole and the second connecting hole arranged coaxially and a connector passing through it for fixing the support guide plate and the fixed guide plate; the fixing hole and the screw hole are arranged coaxially and a connector passes through it for fixing the second osteotomy guide plate in a fixed position on the mandibular body.

[0008] Preferably, after the supporting guide plate and the fixed guide plate are assembled, the osteotomy groove is formed between the top opening edge of the supporting guide plate on the outer side of the mandibular body and the bottom edge of the fixed guide plate on the outer side of the mandibular body. The extension direction of the osteotomy groove is consistent with the preset osteotomy route, and the width of the osteotomy groove is adapted to the thickness of the saw blade.

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

[0010] Preferably, the first fixing guide plate extends to one end of the mandibular ramus to form a curved portion that bends toward the inner side of the mandibular ramus. The curved portion is connected to the mandibular ramus by a hook. After the first fixing guide plate and the supporting guide plate are assembled, the three points—the curved portion of the first fixing guide plate and the center point of force on the mandibular ramus, the supporting guide plate and the center point of force on the mandibular angle, and the fixing hole of the first fixing guide plate—are arranged in an equilateral triangle. After the second fixed guide plate and the supporting guide plate are assembled, the three points—the force-bearing point of the fixing hole of the second fixed guide plate, the force-bearing center point of the supporting guide plate and the mandibular angle, and the center point of the second bending part of the second fixed guide plate—are arranged in an equilateral triangle.

[0011] Preferably, the main control module is configured to acquire the surface morphology of the crown, the adjacent tooth relationship and the dental arch curve through an intraoral scanner, generate a tooth model, and establish a dental model cavity based on the tooth model; DICOM data of the complete human mandible was acquired by cone-beam computed tomography (CBCT). 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 according to the positions of the mental foramen, mandibular canal, lower border of the mandible, and alveolar ridge crest to generate a three-dimensional model of the human mandible. Based on the surface morphology of the three-dimensional model of the human mandible, the conformation morphology of the first osteotomy guide plate and the second osteotomy guide plate with the mandibular body was established. Furthermore, based on the three-dimensional model of the human jawbone, a preset osteotomy route is simulated, and based on the extension direction of the osteotomy route and the thickness of the saw blade, a planar geometric shape profile 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 jawbone, and to perform local mesh densification processing in the stress concentration areas of the mandibular angle, mandibular base, and mandibular ramus. The implicit function surface technique is used to create a support guide plate and a fixed guide plate with an initial thickness. The human jawbone three-dimensional model is simulated to cut along the osteotomy route. The peak stress of each node of the human jawbone three-dimensional model is calculated based on the finite element analysis method. The support guide plate and the fixed guide plate with different thicknesses are generated to match the peak stress of each node of the human jawbone three-dimensional model. Furthermore, the supporting guide plate and the fixed guide plate adopt a non-uniform thickness gradient curved surface, and the thickness of the supporting guide plate and the fixed guide plate gradually decreases along the side facing the osteotomy groove, 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 shaped scalpel, and the plane where the optical axis of the first camera and the second camera is 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 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 is used as a reference image. When the scalpel performs a cutting operation, if the difference in area and shape 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 portion is located at the distal end of the irregular surgical knife and extends along the length direction of the irregular surgical knife; The handle portion includes a first connecting segment, a second connecting segment, and a third connecting segment arranged from the distal end to the 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 scalpel, and the central axis of the handle portion is located vertically above the central axis of the saw blade portion, and the two are arranged horizontally. The 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 shaped scalpel.

[0015] Because the present invention adopts the above technical solution, it has the following advantages and positive effects compared with the prior art: This invention provides a mandibular angle osteotomy surgical robot system, including an osteotomy guide plate assembly, a special-shaped scalpel, a drive module, a monitoring module, and a main control module. The osteotomy guide plate assembly includes a first osteotomy guide plate and a second osteotomy guide plate, which, after assembly, can be stably placed on the mandibular body and form an osteotomy groove. The special-shaped scalpel has a bending structure, forming an observation space below the handle of the special-shaped scalpel. When the special-shaped scalpel performs a cutting action along the osteotomy groove, the monitoring module can accurately monitor the cutting status of the saw blade of the special-shaped scalpel through the observation space, and the main control module and the drive module can accurately adjust the cutting action and posture of the special-shaped scalpel based on feedback control. Attached Figure Description

[0016] Figure 1 A schematic diagram of the structure of the first osteotomy guide plate provided by the present invention; Figure 2 A schematic diagram of the structure of the second osteotomy guide plate composed of a first fixing guide plate and a supporting guide plate provided by the present invention; Figure 3 A schematic diagram of the structure of the second osteotomy guide plate composed of the second fixing guide plate and the supporting guide plate provided by the present invention; Figure 4 A schematic diagram of the structure of the irregular surgical knife provided by this invention; Figure 5 A schematic diagram of the mandibular angle osteotomy surgical robot system provided by the present invention.

[0017] Explanation of reference numerals in the attached drawings: 1: First osteotomy guide plate; 2: Fixation part; 3: Connecting part; 4: Positioning part; 401: First positioning hole; 402: Second positioning hole; 5: Second osteotomy guide plate; 6: Supporting guide plate; 601: First connecting hole; 7: First fixing guide plate; 701: First bending part; 702: Second connecting hole; 703: Fixing hole; 704: Bending part; 8: Second fixing guide plate; 801: Second bending part; 9: Osteotomy groove; 10: Mandibular angle; 11: Mandibular ramus; 12: Special-shaped scalpel; 1201: Saw blade part; 1202: First connecting segment; 1203: Second connecting segment; 1204: Third connecting segment; 13: Observation space; 14: First camera; 15: Second camera. Detailed Implementation

[0018] The following detailed description, in conjunction with the accompanying drawings and specific embodiments, provides a further detailed account of the mandibular angle osteotomy surgical robot system proposed in this invention. The advantages and features of the invention will become clearer from the following description and claims.

[0019] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0020] Furthermore, in the description of this application, "proximal" and "distal" are commonly used terms in the medical field. Specifically, "proximal" refers to the end closer to the operator, "proximal face" refers to the end face closer to the operator, "distal" refers to the end farther from the operator, and "distal face" refers to the end face farther from the operator.

[0021] See Figures 1-5 This embodiment provides a mandibular angle osteotomy surgical robot system for realizing automatic mandibular angle osteotomy surgery. Its main structure includes an osteotomy guide plate assembly, a special-shaped surgical knife 12, a drive 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 on both sides. Since mandibular angle osteotomy typically requires cutting the mandibular angles 10 on both sides of the patient, both the first osteotomy guide 1 and the second osteotomy guide 5 are in two sets, respectively placed on the mandibular body on both sides of the patient. The first osteotomy guide 1 is used to locate the fixation points of the second osteotomy guide 5. The second osteotomy guide 5 further includes a supporting guide 6 and a fixing guide 6. After assembly, the supporting guide 6 and the fixing guide 6 form an osteotomy groove 9, which is used to indicate the osteotomy path.

[0023] The 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 groove 9, which restricts the cutting path of the saw blade 1201 and improves cutting accuracy. The handle has a bending structure, forming an observation space 13 below the handle along the axial direction of the scalpel 12. In conventional mandibular angle osteotomy, due to the small intraoral space and the cheek being close to the outer side of the jawbone, when the scalpel is inserted into the oral cavity, there are visual obstructions on the sides and back of the blade (the handle of a conventional scalpel), making it difficult for the operator to easily and accurately observe the position of the blade, resulting in poor controllability and cutting accuracy. In this embodiment, by setting up the observation space 13, the cutting state of the saw blade 1201 can be observed along the axial direction of the scalpel 12.

[0024] The power end of the drive module is fixedly connected to the proximal end of the handle and is used to drive the shaped surgical knife 12 to perform cutting operations according to a preset trajectory. The power end of the drive module can control the shaped surgical knife 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 the cutting operation status of the saw blade section 1201 is monitored through the observation space 13, and feedback data is generated and transmitted to the main control module.

[0026] The main control module is electrically connected to the drive module and the monitoring module. It is used to establish a three-dimensional model of the human jawbone, generate a personalized osteotomy guide plate component based on the three-dimensional model of the human jawbone, and obtain the cutting operation status of the saw blade 1201 through the monitoring module and control the special-shaped surgical knife 12 to perform the cutting operation through the drive module.

[0027] In summary, this embodiment provides a mandibular angle osteotomy surgical robot system. The osteotomy guide plate assembly can accurately determine the osteotomy path, providing path guidance for the shaped surgical blade 12 to perform the cutting operation. This prevents the shaped surgical blade 12 from causing osteotomy deviations and damage to critical areas such as the mandibular nerve and blood vessels. Simultaneously, the shaped surgical blade 12 forms an observation space 13, through which the cutting status of the saw blade 1201 can be directly observed, effectively improving the surgical field of view of the shaped surgical blade 12. Furthermore, a monitoring module is configured to monitor the cutting operation status of the saw blade 1201 in real time through the observation space 13. When the saw blade 1201 deviates in posture or direction of movement, the main control module and drive module can quickly adjust the shaped surgical blade 12, effectively improving the automation level and control precision of the mandibular angle osteotomy surgery.

[0028] The following will provide a more detailed description of 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 part 2, a connecting part 3, and a positioning part 4.

[0029] The fixing part 2 has an open dental mold cavity inside, which is adapted to the shape of the mandibular tooth. During the assembly of the first osteotomy guide plate 1, the fixing part 2 can be fitted onto the mandibular tooth to fix the first osteotomy guide plate 1 in a fixed position on the mandibular body.

[0030] The positioning part 4 fits against the surface of the mandibular body. The positioning part 4 has a first positioning hole 401 and a second positioning hole 402. The first positioning hole 401 and the second positioning hole 402 are used to locate the screw hole positions that need to be opened on the surface of the mandibular body. The screw hole is the fixing point of the second osteotomy guide plate 5.

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

[0032] Furthermore, in one embodiment, the support guide plate 6 is an arc-shaped structure with an internal accommodating cavity and an opening at the top. The inner surface of the accommodating cavity is adapted to the outer shape of the mandibular angle 10 region, so that the support guide plate 6 can be fitted onto the mandibular angle 10.

[0033] The support guide plate 6 has a first connecting hole 601, which is preferably a three-hole structure.

[0034] The fixed guide plate has a second connecting hole 702 and a fixing hole 703. The first connecting hole 601 is adapted to the second connecting hole 702, so that the first connecting hole 601 and the second connecting hole 702 are arranged coaxially, and a connector is passed through it (this connector only passes through the second connecting hole 702 and the first connecting hole 601 in sequence, without puncturing the mandibular body), which is used to fix the support guide plate 6 and the fixed guide plate. At the same time, the fixing hole 703 is arranged coaxially with the screw hole, and a connector is passed through it (this connector needs to pass through the fixing hole 703 and then be fixedly connected to the screw hole), which is used to fix the second osteotomy guide plate 5 in a fixed position on the mandibular body.

[0035] Furthermore, after the support guide plate 6 and the fixed guide plate are assembled, the support guide plate 6 forms an osteotomy groove 9 between the top opening edge on the outer side of the mandibular body and the bottom edge on the outer side of the fixed guide plate. By limiting the shape and size when preparing the support guide plate 6 and the fixed guide plate, the extension direction of the final osteotomy groove 9 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 a first connecting hole 601 at one end near the mandibular ramus 11 and at the other end away from the mandibular ramus 11, that is, there are two sets of first connecting holes 601.

[0037] The fixing guide plate includes a first fixing guide plate 7 and a second fixing guide plate 8. The first fixing guide plate 7 and the second fixing guide plate 8 have an L-shaped structure. The first fixing guide plate 7 forms a first bending portion 701 on the side near the mandibular ramus 11. The second connecting hole 702 of the first fixing guide plate 7 is provided on the first bending portion 701 and is coaxially arranged with the first connecting hole 601 of the supporting guide plate 6 near the mandibular ramus 11. That is, the first fixing guide plate 7 and the supporting guide plate 6 are fixedly connected through the first bending portion 701 of the first fixing guide plate 7.

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

[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 located at one end near the mandibular branch 11, and the screw holes corresponding to the second positioning hole 402 are arranged coaxially.

[0041] In this embodiment, the second osteotomy guide plate 5 is configured such that after the first fixed guide plate 7 and the supporting guide plate 6 are assembled, the formed osteotomy groove 9 covers the osteotomy route of the first distance. After the second fixed guide plate 8 and the supporting guide plate 6 are assembled, the formed osteotomy groove 9 covers the osteotomy route of the second distance. The combination of the osteotomy route of the first distance and the osteotomy route of the second distance can cover the complete osteotomy route. That is, the connection structure between the supporting guide plate 6 and the single fixed guide plate will inevitably cause some obstruction to the osteotomy route. Therefore, by setting the first fixed guide plate 7 and the second fixed guide plate 8, the mandibular angle 10 is cut in segments, which effectively ensures the cutting accuracy.

[0042] Furthermore, in one embodiment, the first fixing guide plate 7 extends to one end of the mandibular ramus 11 to form a curved portion 704 that bends inward toward the mandibular ramus 11. The curved portion 704 is connected to the mandibular ramus 11 by a hook-and-loop connection, forming a stress point. After the first fixing guide plate 7 and the supporting guide plate 6 are assembled, the three points—the curved portion 704 of the first fixing guide plate 7 and the stress center point of the mandibular ramus 11, the supporting guide plate 6 and the stress center point of the mandibular angle 10, and the fixing hole 703 of the first fixing guide plate 7—are arranged in an equilateral triangle.

[0043] Similarly, after the second fixed guide plate 8 and the supporting guide plate 6 are assembled, the three points—the force-bearing point of the fixing hole 703 of the second fixed guide plate 8, the force-bearing center point of the supporting guide plate 6 and the mandibular angle 10, and the center point of the second bending part 801 of the second fixed guide plate 8—are arranged in an equilateral triangle.

[0044] In this embodiment, the rotational displacement of the second osteotomy guide plate 5 during the cutting process can be effectively suppressed by the three-point mechanical balance. Experiments show 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 the similar guide plate structure of the supporting guide plate 6 in this embodiment).

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

[0046] Subsequently, a three-dimensional model of the human jawbone was created, including: Image acquisition: Complete DICOM data of the human mandible were acquired using cone-beam computed tomography (CBCT), ensuring a slice thickness of ≤0.2 mm and a spatial resolution of ≤0.1 mm.

[0047] Geometric reconstruction: The DICOM data is converted into an STL surface mesh using the Mimics system, and then imported into 3-matic software for void repair and curvature smoothing to ensure continuous curvature changes and meet the NURBS standard.

[0048] Posture correction: The posture of the mandible is corrected based on the positions of the mental foramen, mandibular canal, lower edge of the mandible and alveolar ridge, generating a forward-aligned three-dimensional model of the human jawbone, which facilitates the analysis and determination of the actual cutting positions of the mandibular bodies on both sides.

[0049] Finally, based on the surface morphology of the three-dimensional model of the human jawbone, the conformation morphology of the first osteotomy guide plate 1 and the second osteotomy guide plate 5 with 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 fully conform to 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] Furthermore, based on the three-dimensional model of the human jawbone, a preset osteotomy route is simulated. The preset osteotomy route needs to avoid areas such as neurovascular bundles and joint structures. Based on the extension direction of the osteotomy route and the thickness of the saw blade 1201, the planar geometric 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 groove 9 can be completely matched with the preset osteotomy route.

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

[0052] The implicit function surface technique is used to create the support guide plate 6 and the fixed guide plate with the initial thickness. The human jawbone three-dimensional model is simulated to cut along the osteotomy route. The peak stress of each node of the human jawbone three-dimensional model is calculated based on the finite element analysis method. The thickness of the support guide plate 6 and the fixed guide plate is adjusted, and then support guide plates 6 and fixed guide plates of different thicknesses are generated to match the peak stress of each node of the human jawbone three-dimensional model.

[0053] Furthermore, the support guide plate 6 and the fixed guide plate adopt a non-uniform thickness gradient curved surface. 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 edge of the support guide plate 6 and the fixed guide plate facing the osteotomy groove 9 has better elastic deformation capability. This 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 first camera 14 and a second camera 15 in parallel. The first camera 14 and the second camera 15 move synchronously with the shaped scalpel 12, and the plane where the optical axis of the first camera 14 and the second camera 15 is located is always arranged parallel to the surface of the real-time cutting area of ​​the saw blade 1201.

[0055] It is worth noting that in this embodiment, the monitoring module and the shaped scalpel 12 are independently set and driven. The monitoring module can move synchronously with the shaped scalpel 12. That is, when the shaped scalpel 12 moves horizontally or vertically in a vertical arrangement with the surface of the object to be cut, the monitoring module achieves the same horizontal or vertical movement. However, when the 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 1201.

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

[0057] When the scalpel 12 performs a cutting operation, if the difference in area and shape between the real-time image captured by the first camera 14 and the reference image exceeds 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 real-time image data of the blade surfaces on both sides of the saw blade 1201. The acquired image data undergoes preprocessing, including edge detection and feature point extraction, to calculate the area and shape data of the blade surfaces in the real-time image. The area and shape of the real-time image are compared with a reference image. When the difference in area and shape between the real-time image and the reference image exceeds a threshold, it indicates that the saw blade 1201 is tilted to the left or right. Therefore, the image data acquired by the monitoring module will show area changes and shape distortions. By controlling the saw blade 1201 to always be perpendicular to the surface of the bone to be cut, inaccurate cutting positions caused by angular deviations are avoided, reducing additional damage to surrounding nerve and blood vessel tissues and joint structures.

[0059] Preferably, in one embodiment, the saw blade portion 1201 is located at the distal end of the shaped surgical knife 12 and extends along the length direction of the shaped surgical knife 12. When the shaped surgical knife 12 is in a cutting posture, the blade wall surface of the saw blade portion 1201 is arranged perpendicularly 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 portion 1201. A first bending angle is formed between the continuous first connecting segment 1202 and the second connecting segment 1203, and a second bending angle is formed between the continuous second connecting segment 1203 and the third connecting segment 1204. The handle portion extends along the length direction of the scalpel 12, and the central axis of the handle portion is located vertically above the central axis of the saw blade portion 1201, with both maintaining a horizontal arrangement.

[0061] The scalpel 12 is configured to form an observation space 13 below the second connecting section 1203 and the third connecting section 1204. The cutting operation status of the saw blade section 1201 can be observed through the observation space 13 along the axial direction of the scalpel 12, thereby effectively improving the surgical field of view of the 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 shall still fall within the protection scope of the present invention.

Claims

1. A robotic system for mandibular angle osteotomy, characterized in that, include: An osteotomy guide plate assembly includes a first osteotomy guide plate and a second osteotomy guide plate arranged on both sides. The first osteotomy guide plate is used to position the fixing points of the second osteotomy guide plate. The second osteotomy guide plate includes a supporting guide plate and a fixing guide plate. The supporting guide plate and the fixing guide plate are assembled to form an osteotomy groove. A non-standard surgical scalpel, comprising a saw blade and a handle, wherein the saw blade is configured to reciprocate along the extension direction of the osteotomy groove, and the handle is provided with a bending structure, forming an observation space below the handle along the axial direction of the non-standard surgical scalpel; A drive module, wherein the power end of the drive module is fixedly connected to the proximal end of the handle, and is used to drive the shaped scalpel to perform cutting operations according to a preset trajectory; A monitoring module, wherein the measuring end of the monitoring module is arranged in the observation space, and the cutting operation status of the saw blade is monitored through the observation space; The main control module is electrically connected to the drive module and the monitoring module. It is used to establish a three-dimensional model of the human jawbone, generate a personalized osteotomy guide plate assembly based on the three-dimensional model of the human jawbone, and obtain the cutting operation status of the saw blade through the monitoring module and control the special-shaped scalpel to perform the cutting operation through the drive module. The first osteotomy guide plate includes a fixing part, a connecting part, and a positioning part. The fixing part has an open dental mold cavity inside, which is adapted to the shape of the mandibular tooth so that the fixing part is fitted onto the mandibular tooth to fix the first osteotomy guide plate in a fixed position on the mandibular body. The positioning part is fitted to the surface of the mandibular body and has a first positioning hole and a second positioning hole, which are used to locate the screw holes to be opened on the surface of the mandibular body. The connecting part is used to fix the fixing part and the positioning part together. The supporting guide plate has an internal accommodating cavity with an opening at the top. The inner surface of the accommodating cavity is adapted to the outer shape of the mandibular angle region, allowing the supporting guide plate to be fitted onto the mandibular angle. The supporting guide plate has a first connecting hole. The fixing guide plate has a second connecting hole and a fixing hole, with the first connecting hole and the second connecting hole arranged coaxially and a connector passing through them for fixing the supporting guide plate and the fixing guide plate. The fixing hole and the screw hole are arranged coaxially and a connector passes through them for fixing the second osteotomy guide plate in a fixed position on the mandibular body. The supporting guide plate has the first connecting hole at one end near the mandibular ramus and at the other end away from the mandibular ramus; the fixing guide plate includes a first fixing guide plate and a second fixing guide plate, the first fixing guide plate and the second fixing guide plate having an L-shaped structure, the first fixing guide plate forming a first bend on the side near the mandibular ramus, the second connecting hole of the first fixing guide plate being located on the first bend and coaxially arranged with the first connecting hole of the supporting guide plate at the end near the mandibular ramus; the fixing hole of the first fixing guide plate being located at the end away from the mandibular ramus; the second fixing guide plate having... A second bend is formed on the side away from the mandibular ramus. The second connecting hole of the second fixing guide plate is located on the second bend and is coaxially arranged with the first connecting hole of the supporting guide plate at the end away from the mandibular ramus. The fixing hole of the second fixing guide plate is located near the end of the mandibular ramus. The second osteotomy guide plate is configured such that after the first fixing guide plate and the supporting guide plate are assembled, the formed osteotomy groove covers the osteotomy path at a first distance, and after the second fixing guide plate and the supporting guide plate are assembled, the formed osteotomy groove covers the osteotomy path at a second distance. The first fixed guide plate extends to one end of the mandibular ramus to form a curved portion that bends toward the inside of the mandibular ramus, and the curved portion is connected to the mandibular ramus by a hooking method.

2. The mandibular angle osteotomy surgical robot system as described in claim 1, characterized in that, After the supporting guide plate and the fixed guide plate are assembled, the osteotomy groove is formed between the top opening edge of the supporting guide plate on the outer side of the mandibular body and the bottom edge of the fixed guide plate on the outer side of the mandibular body. The extension direction of the osteotomy groove is consistent with the preset osteotomy route, and the width of the osteotomy groove is adapted to the thickness of the saw blade.

3. The mandibular angle osteotomy surgical robot system as described in claim 1, characterized in that, After the first fixed guide plate and the supporting guide plate are assembled, the three points—the bending part of the first fixed guide plate and the center of force of the mandibular ramus, the center of force of the supporting guide plate and the angle of the mandible, 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 supporting guide plate are assembled, the three points—the force-bearing point of the fixing hole of the second fixed guide plate, the force-bearing center point of the supporting guide plate and the mandibular angle, and the center point of the second bending part of the second fixed guide plate—are arranged in an equilateral triangle.

4. The mandibular angle osteotomy surgical robot system as described in claim 1, characterized in that, The main control module is configured to acquire the surface morphology of the crown, the adjacent tooth relationship and the arch curve of the tooth through an intraoral scanner, generate a tooth model, and establish a dental cavity based on the tooth model. DICOM data of the complete human mandible was acquired by cone-beam computed tomography (CBCT). 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 according to the positions of the mental foramen, mandibular canal, lower border of the mandible, and alveolar ridge crest to generate a three-dimensional model of the human mandible. Based on the surface morphology of the three-dimensional model of the human mandible, the conformation morphology of the first osteotomy guide plate and the second osteotomy guide plate with the mandibular body was established. Furthermore, based on the three-dimensional model of the human jawbone, a preset osteotomy route is simulated, and based on the extension direction of the osteotomy route and the thickness of the saw blade, a planar geometric shape profile of a support guide plate and a fixed guide plate adapted to the osteotomy route is generated.

5. The mandibular angle osteotomy surgical robot system as described in claim 4, characterized in that, The main control module is further configured to perform mesh division on the three-dimensional model of the human jawbone and to perform local mesh densification in the stress concentration areas of the mandibular angle, mandibular base, and mandibular ramus. The implicit function surface technique is used to create a support guide plate and a fixed guide plate with an initial thickness. The human jawbone three-dimensional model is simulated to cut along the osteotomy route. The peak stress of each node of the human jawbone three-dimensional model is calculated based on the finite element analysis method. The support guide plate and the fixed guide plate with different thicknesses are generated to match the peak stress of each node of the human jawbone three-dimensional model. Furthermore, the supporting guide plate and the fixed guide plate adopt a non-uniform thickness gradient curved surface, and the thickness of the supporting guide plate and the fixed guide plate gradually decreases along the side facing the osteotomy groove, so as to buffer the vibration of the saw blade part through slight elastic deformation.

6. The mandibular angle osteotomy surgical robot system as described in claim 1, characterized in that, The monitoring module includes a first camera and a second camera in parallel. The first camera and the second camera move synchronously with the shaped scalpel, and the plane where the optical axis 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 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 is used as a reference image. When the scalpel performs a cutting operation, if the difference in area and shape 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.

7. The mandibular angle osteotomy surgical robot system as described in claim 1, characterized in that, The saw blade portion is located at the distal end of the irregular surgical knife and extends along the length direction of the irregular surgical knife; The handle portion includes a first connecting segment, a second connecting segment, and a third connecting segment arranged from the distal end to the 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 scalpel, and the central axis of the handle portion is located vertically above the central axis of the saw blade portion, and the two are arranged horizontally. The 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 shaped scalpel.

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