Fixing device for dynamic oral navigation and jaw positioner of robot system

Abstract

The invention discloses a fixing device for an oral cavity dynamic navigation and robot system jaw positioner, and belongs to the technical field of dynamic navigation system assisted oral cavity treatment, the fixing device comprises an upper support plate and a lower support plate, one ends of the upper support plate and the lower support plate are rotatably connected through a pin shaft, and the other ends of the upper support plate and the lower support plate are slidably connected through an angle adjusting mechanism; the two sides of the lower supporting plate are each provided with a quick-release structure, and a fixing sleeve is installed in each quick-release structure. According to the invention, the stability of the fixing device is maintained through a little silicone rubber pasting and occlusion mode, so that the requirements of the existing device on the length and width of the dentition and the height of the dental crown are reduced, and complications of loose teeth in a mounting area of the fixing device are reduced; the included angle between the upper supporting plate and the lower supporting plate can be adjusted through the angle adjusting mechanism, so that the requirement that openings of different patients are different in size is met; and through the quick release structure, the fixing sleeves of different models can be quickly assembled and disassembled, so that the working efficiency is improved, and convenience is provided for medical staff.

Description

Technical Field

[0001] This invention belongs to the field of dynamic navigation system-assisted oral treatment technology, and in particular relates to a fixation device for a jawbone locator in a dynamic oral navigation and robotic system. Background Technology

[0002] Dynamic navigation systems are widely used auxiliary systems in implant surgery. They consist of two parts: hardware and software. The hardware includes a navigator, a dedicated navigation phone, and a registration and positioning device. The software is specialized software with functions such as preoperative planning and real-time intraoperative guidance. The key technologies of dynamic navigation systems are registration and spatial positioning technologies. Clinically, registration methods are mainly divided into marker-based registration and markerless registration. Marker-based registration mainly uses markers on the registration device to achieve spatial positioning, while markerless registration mainly uses the patient's own anatomical structures, such as the jawbone, as landmarks to complete registration. Regardless of the registration method, a jawbone locator is required for fixation during surgery.

[0003] Spatial positioning technology is primarily based on optical positioning principles, with infrared light being a commonly used light source. Currently, various dynamic navigation systems are applied clinically, and their workflows and principles are essentially the same. First, it's necessary to acquire the patient's jawbone and prosthetic information. Jawbone information is typically obtained using cone-beam computed tomography (CBCT), while prosthetic information is obtained through virtual tooth alignment or a radiographic guide. Then, this data is imported into navigation software for implant planning. After design, calibration and registration are performed; this step is crucial to the accuracy of the navigation system and should be strictly followed according to the operating manual. Essentially, this step connects the spatial relationships between the mobile phone, the patient's actual jawbone, and the patient's virtual jawbone (displayed on the monitor) under the guidance of the navigator and reference board, achieving visualized real-time navigation. During the surgery, the surgeon can guide the operation based on the preoperative plan displayed on the screen and promptly correct the surgical plan based on real-time error information, ultimately completing the implant placement accurately and efficiently.

[0004] Registration is a crucial step in dynamic navigation implantation surgery, ensuring an accurate correspondence between the CBCT image data in the surgical navigation system and the patient's actual anatomical location. The type of registration device, its stability, and the stability of the registration process directly impact the accuracy of dynamic navigation implantation. If the registration device is unstable, and the correspondence between the virtual oral cavity and the actual oral cavity in the navigation system deviates, the clinician performing the implantation according to the navigation device may produce erroneous implantation results in the actual oral cavity.

[0005] The jawbone locator, identified by the positioning system, is used to construct a virtual oral cavity while being firmly fixed to the real oral cavity, maintaining a stable spatial correspondence. It acts as a bridge between the virtual and real oral cavity. Instability during surgery will cause discrepancies between the actual position of the implant surgical instruments within the patient's mouth and the position displayed by the navigation system. The jawbone locator itself cannot be directly placed or fixed in the oral cavity; it must be tightly integrated into the oral cavity by a fixation device, and then the locator connecting rod is connected to this fixation device. Currently, the fixation devices used in the market are fixed to stable teeth on the opposite side of the same jaw in the surgical area using resin material.

[0006] However, the existing technologies mentioned above have the following drawbacks in clinical applications: if the patient's teeth are crowded or the crowns are short, the fixation of the device may not be stable enough, leading to insufficient accuracy. Furthermore, if the patient's teeth are loose, removing the resin material may also remove the loose teeth, causing unnecessary complications. Therefore, this invention aims to provide a fixation device for a jawbone locator in a dynamic oral navigation and robotic system. This device uses the patient's own biting force combined with silicone rubber adhesion to firmly secure the device within the patient's mouth, thereby solving the problem that existing fixation devices are unsuitable for these patients. Summary of the Invention

[0007] The purpose of this invention is to provide a fixation device for a jawbone locator in a dynamic oral navigation and robotic system, in order to overcome the shortcomings of the prior art.

[0008] To achieve the above-mentioned objectives, the technical solution adopted by this invention is as follows:

[0009] A fixation device for a jawbone locator in a dynamic oral navigation and robotic system includes an upper support plate and a lower support plate. One end of the upper support plate and the lower support plate are rotatably connected by a pin, and the other end is slidably connected by an angle adjustment mechanism. Both sides of the lower support plate are provided with quick-release structures, and a fixing sleeve is installed in the quick-release structure.

[0010] Furthermore, the angle adjustment mechanism includes: an arc-shaped slide rod fixed to the bottom end of the upper support plate and an arc-shaped slide sleeve fixed to the top end of the lower support plate. The arc-shaped slide rod is slidably disposed within the arc-shaped slide sleeve. A guide rod is fixed to one side of the arc-shaped slide rod. An arc-shaped groove is provided on one side of the arc-shaped slide sleeve. The guide rod is slidably disposed within the arc-shaped groove, and a locking knob is threadedly connected to the portion extending out of the arc-shaped groove.

[0011] Furthermore, the portion of the guide rod that mates with the arc-shaped groove is a smooth rod, and the portion of the guide rod extending out of the arc-shaped groove is provided with a thread that mates with the locking knob.

[0012] Furthermore, the surface of the arc-shaped sliding sleeve is provided with a scale, and the end of the guide rod is provided with an indicator that matches the scale.

[0013] Furthermore, a shaft is fixed to one side of the fixed sleeve, and a key is provided at the end of the shaft away from the fixed sleeve, with a locking hole provided on the key.

[0014] Furthermore, the quick-release structure includes: a conformal groove adapted to the shaft and the key, the inner side of which extends into a fan-shaped groove; a pull rod installed on the lower support plate opposite the fan-shaped groove; a locking shaft provided at one end of the pull rod; the locking shaft passing through the lower support plate and extending into the fan-shaped groove; the locking shaft being adapted to the locking hole of the key; a circular plate installed in the middle of the locking shaft; a spring sleeved on the locking shaft; one end of the spring being fixed to the circular plate; and the other end being fixed to the inner wall of the lower support plate.

[0015] Furthermore, the thickness of the key is consistent with the depth of the fan-shaped groove.

[0016] Furthermore, bolt holes are provided on both opposite side walls of the fixing sleeve.

[0017] Furthermore, both the top end of the upper support plate and the bottom end of the lower support plate are provided with silicone pads with anti-slip textures.

[0018] Furthermore, mounting holes are provided at the top of the upper support plate and the bottom of the lower support plate, and these mounting holes are used to fix the patient-specific occlusal model.

[0019] The present invention provides a fixation device for a jawbone locator in a dynamic oral navigation and robotic system, which has the following advantages compared with the prior art:

[0020] 1. Instead of using resin materials alone for bonding, use a small amount of silicone rubber bonding combined with occlusion to maintain the stability of the fixation device, thereby reducing the requirements of the existing device on the length, width, and crown height of the dentition, and reducing the occurrence of complications that damage loose teeth in the area where the fixation device is installed;

[0021] 2. The angle between the upper and lower support plates can be adjusted by the angle adjustment mechanism to meet the needs of different patients with different opening sizes;

[0022] 3. Since the connecting rods of different positioners have different shapes, the quick-release structure allows for quick installation and removal of different models of fixing sleeves, thereby improving work efficiency and providing convenience for medical staff. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the structure of the present invention. Figure 1 ;

[0025] Figure 2 for Figure 1 A magnified view of a portion at point A;

[0026] Figure 3 This is a schematic diagram of the structure of the present invention. Figure 2 ;

[0027] Figure 4 for Figure 3 A magnified view of the area at point B;

[0028] Figure 5 This is a schematic diagram of the structure of the fixing sleeve of the present invention. Figure 1 ;

[0029] Figure 6 This is a schematic diagram of the structure of the fixing sleeve of the present invention. Figure 2 ;

[0030] Figure 7 This is a schematic diagram showing the fit between the locking shaft and the lock hole of the present invention.

[0031] In the diagram: 1-Upper support plate, 2-Lower support plate, 3-Pin, 4-Fixing sleeve, 5-Arc-shaped slide rod, 6-Arc-shaped slide sleeve, 7-Guide rod, 8-Arc-shaped groove, 9-Locking knob, 10-Scale, 11-Indicator, 12-Shaft, 13-Shaft key, 14-Locking hole, 15-Follow-shaped groove, 16-Fan-shaped groove, 17-Pull rod, 18-Locking shaft, 19-Circular plate, 20-Spring, 21-Bolt hole, 22-Silicone pad. Detailed Implementation

[0032] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments:

[0033] Example 1

[0034] refer to Figure 1-7As shown, the present invention provides a fixation device for a jawbone locator in a dynamic oral navigation and robotic system, comprising: an upper support plate 1 and a lower support plate 2. One end of the upper support plate 1 and the lower support plate 2 are rotatably connected by a pin 3, and the other end is slidably connected by an angle adjustment mechanism. Both sides of the lower support plate 2 are provided with quick-release structures, and a fixing sleeve 4 is installed in the quick-release structure. More preferably, both sides of the upper support plate 1 are also provided with quick-release structures.

[0035] In a preferred embodiment, the angle adjustment mechanism includes: an arc-shaped sliding rod 5 fixed to the bottom end of the upper support plate 1 and an arc-shaped sliding sleeve 6 fixed to the top end of the lower support plate 2. The arc-shaped sliding rod 5 is slidably disposed within the arc-shaped sliding sleeve 6. A guide rod 7 is fixed to one side of the arc-shaped sliding rod 5. An arc-shaped groove 8 is formed on one side of the arc-shaped sliding sleeve 6. The guide rod 7 is slidably disposed within the arc-shaped groove 8, and a locking knob 9 is threadedly connected to the portion extending out of the arc-shaped groove 8. The portion of the guide rod 7 that mates with the arc-shaped groove 8 is a smooth rod, and the portion of the guide rod 7 extending out of the arc-shaped groove 8 is threaded to mate with the locking knob 9. A scale 10 is provided on the surface of the arc-shaped sliding sleeve 6, and an indicator 11 that mates with the scale 10 is provided at the end of the guide rod 7. In use, the angle of the fixation device is adjusted according to the patient's mouth opening angle. First, loosen the locking knob 9, then adjust the relative position of the arc-shaped slide rod 5 and the arc-shaped sliding sleeve 6. During this process, more precise adjustments can be made according to the scale 10 on the arc-shaped sliding sleeve 6 and the indicator 11 at the end of the guide rod 7. After adjustment, tighten the locking knob 9 to fix the relative position of the arc-shaped slide rod 5 and the arc-shaped sliding sleeve 6. The guide rod 7 and the arc-shaped groove 8, in addition to fixing the position of the arc-shaped slide rod 5 and the arc-shaped sliding sleeve 6, also prevent the risk of the arc-shaped slide rod 5 and the arc-shaped sliding sleeve 6 detaching due to excessive force. More preferably, the surface of the arc-shaped sliding sleeve 6 and the bottom surface of the locking knob 9 are provided with anti-slip textures to ensure the stability of the relative position fixation.

[0036] In a preferred embodiment, a shaft 12 is fixed to one side of the fixing sleeve 4, and a key 13 is provided at the end of the shaft 12 away from the fixing sleeve 4. A locking hole 14 is provided on the key 13. The quick-release structure includes: a conformal groove 15 adapted to the shaft 12 and the key 13; a fan-shaped groove 16 extending inward from the conformal groove 15; a pull rod 17 installed on the lower support plate 2 opposite to the fan-shaped groove 16; a locking shaft 18 provided at one end of the pull rod 17; the locking shaft 18 passes through the lower support plate 2 and extends into the fan-shaped groove 16; the locking shaft 18 is adapted to the locking hole 14 of the key 13; a circular plate 19 is installed in the middle of the locking shaft 18; a spring 20 is sleeved on the locking shaft 18; one end of the spring 20 is fixed to the circular plate 19, and the other end is fixed to the inner wall of the lower support plate 20. The thickness of the key 13 is the same as the depth of the fan-shaped groove 16. Before use, determine the shape of the locator connecting rod and select the corresponding fixing sleeve 4 for installation. During installation, first pull out the locking shaft 18 using the pull rod 17, then insert the shaft 12 and key 13 of the fixing sleeve 4 into the corresponding groove 15. After insertion, rotate 90° to make the key 13 engage in the sector groove 16. Then release the pull rod 17 to allow the locking shaft 18 to be inserted into the locking hole 14 of the key 13 under the reset action of the spring 20, completing the fixed installation. The engagement of the key 13 and the sector groove 16 restricts the axial displacement of the shaft 12, and the engagement of the locking shaft 18 and the locking hole 14 restricts the radial rotation of the shaft 12.

[0037] In a preferred embodiment, bolt holes 21 are provided on both opposite side walls of the fixing sleeve 4. The locator connecting rod is inserted into the fixing sleeve 4, and then the locator connecting rod is fixed to the fixing sleeve 4 by screws.

[0038] In a preferred embodiment, the working surfaces of both the upper support plate 1 and the lower support plate 2 are coated with silicone rubber. Before wearing, a release agent such as petroleum jelly can be applied to the patient's tooth surface to prevent the teeth from sticking to the silicone rubber, making it easy to remove after the surgery without affecting accuracy. During the procedure, the teeth remain firmly bitten on the thin layer of silicone rubber, making the wearing more stable.

[0039] Example 2

[0040] refer to Figure 1 As shown, the difference between this embodiment and embodiment 1 is that the top of the upper support plate 1 and the bottom of the lower support plate 2 are both provided with silicone pads 22 with anti-slip texture.

[0041] Example 3

[0042] The difference between this embodiment and Embodiment 1 is that both the top end of the upper support plate 1 and the bottom end of the lower support plate 2 are provided with mounting holes (not shown in the figure). These mounting holes are used to fix a patient-specific occlusal model (not shown in the figure). The occlusal model is custom-made according to the patient's teeth, which can improve the stability of the fixation device during occlusion.

[0043] In the description of this application, it should be noted that the terms "upper" and "lower" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be internal communication between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0044] It should be noted that, in this application, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element.

[0045] The foregoing is merely a list of specific embodiments of the present application, intended to enable those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the broadest scope consistent with the principles and novel features of the present application.

Claims

1. A fixation device for a jawbone locator in a dynamic oral navigation and robotic system, characterized in that, include: The upper support plate (1) and the lower support plate (2) are connected at one end by a pin (3) and at the other end by a sliding connection through an angle adjustment mechanism. Both sides of the lower support plate (2) are provided with quick-release structures, and a fixing sleeve (4) is installed in the quick-release structure.

2. The fixation device for the jawbone locator in a dynamic oral navigation and robotic system according to claim 1, characterized in that, The angle adjustment mechanism includes: an arc-shaped slide rod (5) fixed at the bottom of the upper support plate (1) and an arc-shaped slide sleeve (6) fixed at the top of the lower support plate (2). The arc-shaped slide rod (5) is slidably disposed in the arc-shaped slide sleeve (6). A guide rod (7) is fixed on one side of the arc-shaped slide rod (5). An arc-shaped groove (8) is opened on one side of the arc-shaped slide sleeve (6). The guide rod (7) is slidably disposed in the arc-shaped groove (8) and the part extending out of the arc-shaped groove (8) is threadedly connected to a locking knob (9).

3. The fixation device for the jawbone locator of a dynamic oral navigation and robotic system according to claim 2, characterized in that, The part of the guide rod (7) that mates with the arc groove (8) is a smooth rod, and the part of the guide rod (7) that extends out of the arc groove (8) is provided with a thread that mates with the locking knob (9).

4. The fixation device for the jawbone locator of a dynamic oral navigation and robotic system according to claim 2, characterized in that, The surface of the arc-shaped sliding sleeve (6) is provided with a scale (10), and the end of the guide rod (7) is provided with an indicator (11) that cooperates with the scale (10).

5. The fixation device for the jawbone locator of a dynamic oral navigation and robotic system according to claim 1, characterized in that, A shaft (12) is fixed on one side of the fixed sleeve (4), and a key (13) is provided at the end of the shaft (12) away from the fixed sleeve (4). A locking hole (14) is provided on the key (13).

6. The fixation device for the jawbone locator of a dynamic oral navigation and robotic system according to claim 5, characterized in that, The quick-release structure includes: a conformal groove (15) adapted to the shaft (12) and the key (13), the inner side of the conformal groove (15) being extended into a fan-shaped groove (16), a pull rod (17) installed on the lower support plate (2) opposite to the fan-shaped groove (16), a locking shaft (18) provided at one end of the pull rod (17), the locking shaft (18) passing through the lower support plate (2) and extending into the fan-shaped groove (16), the locking shaft (18) being adapted to the locking hole (14) of the key (13), a circular plate (19) installed in the middle of the locking shaft (18), a spring (20) sleeved on the locking shaft (18), one end of the spring (20) being fixed on the circular plate (19), and the other end being fixed on the inner wall of the lower support plate (20).

7. The fixation device for the jawbone locator of a dynamic oral navigation and robotic system according to claim 6, characterized in that, The thickness of the key (13) is the same as the depth of the fan-shaped groove (16).

8. The fixation device for the jawbone locator of a dynamic oral navigation and robotic system according to claim 1, characterized in that, Bolt holes (21) are provided on both opposite side walls of the fixing sleeve (4).

9. The fixation device for the jawbone locator of a dynamic oral navigation and robotic system according to claim 1, characterized in that, The top of the upper support plate (1) and the bottom of the lower support plate (2) are both provided with silicone pads (22) with anti-slip texture.

10. The fixation device for the jawbone locator of a dynamic oral navigation and robotic system according to claim 1, characterized in that, The top end of the upper support plate (1) and the bottom end of the lower support plate (2) are provided with mounting holes, which are used to fix the patient-specific occlusal model.

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