Movable drill bit calibration device and planting mobile phone drill bit calibration method

Abstract

The invention provides a movable drill bit calibration device and a planting mobile phone drill bit calibration method.The device comprises a fixed bottom plate, a movable panel, a lifting assembly, a side face frame and other structures, and the lifting assembly is used for supporting the movable panel to ascend or descend relative to the fixed bottom plate; and the movable panel does lifting motion in the lifting space under the combined action of the lifting assembly and external force. Based on the device, the lifting assembly is arranged between the fixed bottom plate and the movable panel to form the movable drill bit calibration device, and on the premise that a planting robot, a planting mobile phone and a drill bit are rigidly connected with one another, the length of the drill bit of the planting mobile phone can be calibrated based on the optical marking assembly and the drill bit calibration assembly; operation risks caused by human judgment errors are avoided, and accurate assembly of the drill bit is ensured.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and specifically to a calibration device and method for calibrating the drill length of an implant handpiece before performing dental implant surgery. Background Technology

[0002] Dental implant surgery is a treatment method that restores missing teeth by using implants, abutments, and prostheses to replace natural teeth. Before the procedure, an implant hole needs to be drilled in the patient's alveolar bone, then the implant is fixed in the hole, and finally the abutment and prosthesis are installed to form the complete dental implant.

[0003] During the operation of a robotic dental implant surgery, different drill bits of varying lengths need to be changed according to the requirements of the drilling process to achieve the best surgical results. Currently, drill bits suitable for implant handpieces are available in various lengths. When the implant handpiece is controlled by the implant robot, the length can be manually set or selected using software to determine the length of the drill bit to be installed on the handpiece. The dentist then manually checks to ensure that the drill bit to be replaced matches the set length before installing it on the implant handpiece. Determining the correct drill bit for the implant handpiece is crucial, as it not only affects the treatment outcome but also the patient's oral health: using an incorrect length drill bit may result in a failure to achieve the desired treatment effect, or even cause irreversible damage to the patient's oral cavity.

[0004] In existing technologies, the process of visually determining the drill bit length after replacement by a doctor carries the risk of human error. There is an urgent need in the industry to develop a reliable drill bit length calibration method to avoid surgical risks caused by human error. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a movable drill bit calibration device and a method for calibrating the drill bit of an implantation mobile phone, which addresses the above-mentioned deficiencies of the prior art. Based on the movable drill bit calibration device, the drill bit length of the implantation mobile phone can be calibrated under the premise that the implantation robot, the implantation mobile phone and the drill bit are rigidly connected to each other, so as to avoid surgical risks caused by human judgment errors and ensure accurate assembly of the drill bit.

[0006] The technical solution adopted by this invention to solve the technical problem is as follows: A movable drill bit calibration device, comprising: A fixed base plate and a movable panel, wherein the fixed base plate and the movable panel are square plate structures, the fixed base plate and the movable panel are parallel to each other, and the movable panel is provided with multiple optical marking components and a drill bit calibration component on its upper surface; A lifting assembly is disposed between the fixed base plate and the movable panel, and the lifting assembly is used to support the movable panel to rise or fall relative to the fixed base plate; The side frame is fixedly mounted on the fixed base plate. The side frame is a frame structure. A lifting space is formed around the side frame. The movable panel moves up and down within the lifting space under the combined action of the lifting assembly and external force.

[0007] Compared with the existing technology, the beneficial effects of this technical solution are: a lifting component is set between the fixed base plate and the movable panel. When the planting robot moves the drill bit on the planting mobile phone close to and abuts against the drill bit calibration component, the movable panel can play a certain buffering role. There will be no hard contact between the drill bit and the movable panel, thereby avoiding damage to the drill bit or the drill bit calibration device, and accurately calibrating the drill bit length.

[0008] Furthermore, the lifting assembly also includes a helical spring, the two ends of which are fixed to the fixed base plate and the movable panel, respectively.

[0009] The beneficial effects of adopting the above solution are: the fixed base plate and the movable panel are connected by a helical spring. When subjected to external force, the helical spring can ensure that the movable panel moves up and down within the lifting space on the side frame, thereby avoiding hard contact between the drill bit and the movable panel.

[0010] Furthermore, the lifting assembly includes a first lifting bracket and a second lifting bracket; The first lifting bracket includes a first lifting support arm, a second lifting support arm, a third lifting support arm, and a fourth lifting support arm, which are connected end to end in sequence to form the first lifting bracket. The second lifting support includes a fifth lifting support arm, a sixth lifting support arm, a seventh lifting support arm, and an eighth lifting support arm, which are connected end to end in sequence to form the second lifting support. The first lifting support arm is hinged at both ends to the upper surface of the fixed base plate, the third lifting support arm abuts against the lower surface of the movable panel, the fifth lifting support arm is hinged at both ends to the lower surface of the movable panel, and the seventh lifting support arm abuts against the upper surface of the fixed base plate. The middle part of the second lifting support arm and the middle part of the sixth lifting support arm are hinged to each other, and the middle part of the fourth lifting support arm and the middle part of the sixth lifting support arm are hinged to each other. When the movable panel rises or falls relative to the fixed base plate, the two ends of the first lifting support arm are hinged to the fixed base plate, the two ends of the fifth lifting support arm are hinged to the movable panel, the middle parts of the second lifting support arm and the middle parts of the sixth lifting support arm are hinged to each other, and the middle parts of the fourth lifting support arm and the middle parts of the eighth lifting support arm are hinged to each other.

[0011] The beneficial effects of adopting the above scheme are: the first lifting bracket and the second lifting bracket cooperate with each other, with one end hinged and the other end movable and abutting, and with the help of the helical spring, they can descend or rise parallel to the fixed base plate when the movable panel is subjected to external force or when the external force is removed, thereby ensuring the reliability of the calibration results.

[0012] Furthermore, the fixed base plate is provided with a first shaft fixing block and a second shaft fixing block, and the two ends of the first lifting support arm are respectively provided with a first sleeve shaft and a second sleeve shaft. The first lifting support arm is hinged to the first shaft fixing block through the first sleeve shaft, and the second lifting support arm is hinged to the second shaft fixing block through the second sleeve shaft. The movable panel is provided with a third axis fixing block and a fourth axis fixing block. The two ends of the fifth lifting support arm are respectively provided with a third sleeve shaft and a fourth sleeve shaft. The fifth lifting support arm is hinged to the third axis fixing block through the third sleeve shaft and to the fourth axis fixing block through the fourth sleeve shaft.

[0013] The beneficial effects of the above scheme are as follows: The first and second connecting shafts at both ends of the first lifting support arm are hinged to the first and second fixing blocks via the first and second shaft fixing blocks, allowing the first lifting support arm to be hinged to the first and second shaft fixing blocks; the third and fourth connecting shafts at both ends of the fifth lifting support arm are hinged to the third and fourth shaft fixing blocks via the third and fourth shaft fixing blocks, allowing the fifth lifting support arm to be hinged to the third and fourth shaft fixing blocks. Based on the first, second, third, and fourth shaft fixing blocks, the first and second lifting supports can rise or fall under the action of the helical springs.

[0014] Furthermore, the fixed base plate is provided with a first limiting protrusion and a second limiting protrusion, and the two ends of the third lifting support arm are respectively provided with a first limiting rod and a second limiting rod; The movable panel is provided with a third limiting protrusion and a fourth limiting protrusion, and the two ends of the seventh lifting support arm are respectively provided with a third limiting rod and a fourth limiting rod; As the movable panel gradually rises under the force of the helical spring, the first and second limiting rods of the third lifting support arm gradually approach the third and fourth limiting protrusions, respectively, and the third and fourth limiting rods of the seventh lifting support arm gradually approach the first and second limiting protrusions, respectively. When the movable panel rises to its highest position under the elastic force of the helical spring, the first and second limiting rods of the third lifting support arm abut against the third and fourth limiting protrusions, respectively, and the third and fourth limiting rods of the seventh lifting support arm abut against the first and second limiting protrusions, respectively.

[0015] The beneficial effects of adopting the above scheme are: through the interaction between the first and second limiting protrusions and the first and second limiting rods on the third lifting support arm, and through the interaction between the third and fourth limiting protrusions and the third and fourth limiting rods on the seventh lifting support arm, the movable panel is prevented from rising excessively.

[0016] Furthermore, the upper surface of the fixed base plate is recessed inward to form a first spring fixing ring, the lower surface of the movable panel is recessed inward to form a second spring fixing ring, one end of the helical spring is embedded and fixed in the first spring fixing ring, and the other end of the helical spring is embedded and fixed in the second spring fixing ring.

[0017] The beneficial effect of adopting the above solution is that the upper surface of the fixed base plate and the lower surface of the movable panel are recessed inward to form the first spring fixing ring and the second spring fixing ring respectively, so that the helical spring can be better fixed on the fixed base plate and the movable panel.

[0018] Furthermore, the side frame includes a first side, a second side, a third side, and a fourth side, which are connected end to end in sequence to form the side frame; The side frame is formed by the first side, the second side, the third side and the fourth side to create a lifting space, and there is a gap between the movable panel and the first side, the second side, the third side and the fourth side.

[0019] The beneficial effects of adopting the above scheme are: the side frame is formed by the first side, the second side, the third side and the fourth side, and a lifting space is formed within the side frame. The movable panel is set within the lifting space, and the side frame is used to ensure the smooth operation of the movable panel.

[0020] Furthermore, at least one elongated through hole is provided on the first side, the second side, the third side, and the fourth side, and the elongated through hole is located near the upper surface of the fixed base plate.

[0021] The beneficial effects of adopting the above solution are: during the process of the movable panel rising or falling within the side frame, at least one elongated through hole is provided on the first, second, third, and fourth sides. The elongated through hole can guide the gas in the space to be discharged smoothly, ensuring the smooth operation of the movable panel; at the same time, it is convenient to discharge liquid during the disinfection process.

[0022] Furthermore, the fixed base plate, the movable panel, and the side frame are made of aluminum alloy.

[0023] The advantages of adopting the above solution are: using an aluminum alloy structure to fix the base plate, movable panel and side frame, thereby improving the strength of the device and reducing its weight.

[0024] Furthermore, the lower surface of the fixed base plate is provided with four internal threaded holes, which are used to cooperate with bolts to fix the fixed base plate to the operating table.

[0025] The advantage of adopting the above scheme is that it makes it easy to fix the device on the operating table.

[0026] The technical solution adopted by this invention to solve the technical problem is as follows: A method for calibrating a dental handpiece, the method being based on an optical locator, an implant handpiece, an implant robot, a robot calibration plate, a handpiece tracker, and a movable drill calibration device as described above. The implant handpiece is fixedly mounted at the end of the robotic arm of the implant robot, and a force sensor is installed inside the robotic arm. The robot calibration plate is fixedly installed in the mounting sleeve at the front end of the implant handpiece, and the handpiece tracker is fixedly installed at the rear end of the implant handpiece. The robot calibration plate has multiple calibration plate marking points, and the handpiece tracker has multiple tracker marking points. The method includes the following steps: S1. Control the robotic arm to move the implantation mobile phone to multiple different poses in sequence; during the pose transformation of the implantation mobile phone, the implantation mobile phone, the implantation robot, the robot calibration board, the mobile phone tracker and the movable drill bit calibration device are all simultaneously located under the optical field of view of the optical positioning instrument; S2. When the planting mobile phone is in different positions, control the optical positioning device to collect real-time images of the calibration plate marking points on the robot calibration plate, control the optical positioning device to collect real-time images of the tracker marking points on the mobile phone tracker, and control the optical positioning device to collect real-time images of the optical marking components on the movable drill bit calibration device. S3. Obtain the three-dimensional coordinate data of the robot calibration board in the robot's three-dimensional coordinate system based on the control data of the planting robot; analyze the three-dimensional coordinate data of the robot calibration board in the three-dimensional coordinate system of the optical locator based on the real-time images of the calibration board markers collected by the optical locator. S4. Based on the three-dimensional coordinate data of the robot calibration board in the robot's three-dimensional coordinate system and the three-dimensional coordinate data in the optical positioning instrument's three-dimensional coordinate system, analyze the coordinate transformation relationship between the robot's three-dimensional coordinate system and the optical positioning instrument's three-dimensional coordinate system, thereby calibrating the planting robot. S5. Based on the real-time images of the calibration board markers and the tracker markers simultaneously acquired by the optical positioning instrument, analyze the three-dimensional coordinate data of the robot calibration board in the three-dimensional coordinate system of the optical positioning instrument and the three-dimensional coordinate data of the mobile phone tracker in the three-dimensional coordinate system of the optical positioning instrument at the same moment. Based on this, obtain the coordinate transformation relationship between the three-dimensional coordinate system of the calibration board, the three-dimensional coordinate system of the tracker, and any two of the three-dimensional coordinate system of the optical positioning instrument, so as to calibrate the planting mobile phone. S6. Based on the real-time image of the optical marking component on the movable drill bit calibration device, obtain the real-time pose of the movable drill bit calibration device, and determine the position and normal coordinate data of the drill bit calibration component in the three-dimensional coordinate system of the optical positioning instrument. S7. Based on the real-time image of the tracker markers on the mobile phone tracker, and based on the coordinate data of the drill bit start point and drill bit axis in the three-dimensional coordinate system of the tracker in the planting mobile phone, obtain the coordinate data of the drill bit start point and drill bit axis in the three-dimensional coordinate system of the optical positioning instrument in the planting mobile phone; S8. Based on the position and normal coordinates of the drill bit calibration component in the three-dimensional coordinate system of the optical locator, and combined with the coordinates of the drill bit starting point and drill bit axis in the implantation handpiece in the three-dimensional coordinate system of the optical locator, obtain the real-time relative position relationship between the drill bit calibration component and the implantation handpiece. S9. Based on the coordinate transformation relationship between the robot's three-dimensional coordinate system and the optical positioning instrument's three-dimensional coordinate system, robot control data is generated according to the real-time relative position relationship between the drill bit calibration component and the implantation mobile phone. The robotic arm is guided to drive the drill bit on the implantation mobile phone to approach the drill bit calibration component in the vertical direction at a preset speed. The real-time data collected by the force sensor is detected. When the real-time data of the force sensor reaches the preset value, the robotic arm is controlled to stop running. S10. After the robotic arm stops running, control the optical positioning device to simultaneously acquire real-time images of the tracker markers on the mobile phone tracker and the optical marking components on the movable drill bit calibration device; based on the real-time images of the tracker markers on the mobile phone tracker, acquire the coordinate data of the drill start point and drill axis in the planting mobile phone in the three-dimensional coordinate system of the optical positioning device; based on the real-time images of the optical marking components on the movable drill bit calibration device, acquire the coordinate data of the drill end point in the planting mobile phone in the three-dimensional coordinate system of the optical positioning device. S11. Based on the coordinate data of the drill bit starting point and drill bit axis in the three-dimensional coordinate system of the optical locator and the coordinate data of the drill bit ending point in the three-dimensional coordinate system of the optical locator, determine the drill bit length and drill bit axis, and complete the drill bit calibration.

[0027] Compared with existing technologies, the advantages of this technical solution are: a lifting component is set between the fixed base plate and the movable panel to form a movable drill bit calibration device, which can complete the drill bit length calibration of the implantation mobile phone based on the optical marking component and the drill bit calibration component under the premise that the implantation robot, implantation mobile phone and drill bit are rigidly connected to each other, thus avoiding surgical risks caused by human judgment errors and ensuring accurate drill bit assembly. Attached Figure Description

[0028] Figure 1 This is an overall schematic diagram of the movable drill bit calibration device of the present invention.

[0029] Figure 2 This is an exploded view of the movable drill bit calibration device of the present invention.

[0030] Figure 3 This is an exploded view of the lifting assembly in the movable drill bit calibration device of the present invention.

[0031] Figure 4 This is a schematic diagram of the fixed base plate in the movable drill bit calibration device of the present invention.

[0032] Figure 5 This is a schematic diagram of the movable panel in the movable drill bit calibration device of the present invention.

[0033] Figure 6 This is a flowchart of the dental handpiece calibration method of the present invention.

[0034] The components represented by each number in the diagram are listed below: 1. Fixed base plate; 2. Movable panel; 3. Lifting assembly; 4. Side frame; 5. Optical marking assembly; 6. Drill bit calibration assembly; 7. Helical spring. First shaft fixing block 101, second shaft fixing block 102, first limiting protrusion 103, second limiting protrusion 104, first spring fixing ring 105; Third axis fixing block 201, fourth axis fixing block 202, third limiting protrusion block 203, fourth limiting protrusion block 204, second spring fixing ring 205; First lifting support 301, second lifting support 302; First lifting support arm 3011, second lifting support arm 3012, third lifting support arm 3013, and fourth lifting support arm 3014; Fifth lifting support arm 3021, sixth lifting support arm 3022, seventh lifting support arm 3023, eighth lifting support arm 3024; 401 elongated through hole. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this invention clearer and more explicit, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0036] In the description of this invention, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," and "right," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0037] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. When a component is referred to as being "fixed to" or "set on" another element, it can be directly on the other component or there may be an intervening component. When a component is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intervening component. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0038] Dental implant surgery is a treatment method that restores missing teeth by using implants, abutments, and prostheses to replace natural teeth. Before the procedure, an implant hole needs to be drilled in the patient's alveolar bone, then the implant is fixed in the hole, and finally the abutment and prosthesis are installed to form the complete dental implant.

[0039] During the operation of a robotic dental implant surgery, different drill bits of varying lengths need to be used depending on the needs of the drilling process to achieve the best surgical results. In other words, multiple different types of drill bits may be required during implant surgery. Currently, drill bits suitable for implant handpieces are available in various lengths. When the implant handpiece is controlled by the robot, the length can be manually set or selected using software to determine the length of the drill bit to be installed on the handpiece. The dentist then manually checks to ensure that the drill bit to be replaced matches the set length before installing it on the handpiece. Determining the correct drill bit for the implant handpiece is crucial, as it affects not only the treatment outcome but also the patient's oral health: using an incorrect length drill bit can, at best, fail to achieve the desired treatment results, and at worst, cause irreversible damage to the patient's oral cavity.

[0040] In existing technologies, the process of visually determining the drill bit length after replacement by a doctor carries the risk of human error. There is an urgent need in the industry to develop a reliable drill bit length calibration method to avoid surgical risks caused by human error.

[0041] like Figure 1 and Figure 2 As shown, to solve the above problems, the present invention provides a movable drill bit calibration device, including: a fixed base plate 1, a movable panel 2, a lifting assembly 3, and a side frame 4. The fixed base plate 1 and the side frame 4 form an integral structure to provide structural support, and other components of the device are directly or indirectly disposed on this integral structure. The movable panel 2 is used in conjunction with an optical positioning instrument to calibrate the drill bit. The lifting assembly 3 supports the movable panel 2 to rise or fall relative to the fixed base plate 1.

[0042] In this device, the fixed base plate 1 and the movable panel 2 are square plate structures, parallel to each other. The movable panel 2 has multiple optical marker components 5 and a drill bit calibration component 6 on its upper surface. The optical marker components 5 work in conjunction with an optical positioning device to achieve calibration. The optical positioning device acquires real-time images of the multiple optical marker components 5 to determine the real-time pose of the movable panel 2. The drill bit calibration component 6 works in conjunction with the drill bit to calibrate its length. The implantation handpiece is positioned against the drill bit calibration component 6, and the real-time pose of the implantation handpiece is acquired. The drill bit length can then be calibrated using the real-time poses of the movable panel 2 and the implantation handpiece. It should be noted that the working principle and operation process of the length calibration are existing technologies.

[0043] The lifting assembly 3 is disposed between the fixed base plate 1 and the movable panel 2, and the lifting assembly 3 is used to support the movable panel 2 to rise or fall relative to the fixed base plate 1. The side frame 4 is fixedly disposed on the fixed base plate 1, and the side frame 4 is a frame structure. A lifting space is formed on the side frame 4, and the movable panel 2 moves up and down within the lifting space under the combined action of the lifting assembly 3 and external force.

[0044] To ensure implant precision, the industry typically utilizes implant robots during dental implant surgery. The implant handpiece is positioned at the end of the robot's robotic arm, and the robot uses the arm to deliver the handpiece to the designated location, ensuring precise drill direction and positioning during drilling. In this implementation, because the implant robot is needed to control the handpiece, its length must be calibrated using the robot before the procedure.

[0045] However, during assembly, the implantation robot, implantation mobile phone, and drill bit are rigidly connected to each other. Existing calibration devices are mostly rigid plate structures that cannot move. During the length calibration process, it is necessary to control the implantation mobile phone to drive the drill bit to approach and abut against the calibration device. During the process of the two rigid structures approaching and abutting each other, a slight carelessness may cause damage due to excessive collision, resulting in serious damage to the calibration device, implantation robot, implantation mobile phone, and drill bit.

[0046] Based on the above structure, a lifting component 3 is provided between the fixed base plate 1 and the movable panel 2. When the planting robot moves the drill bit on the planting mobile phone close to and abuts against the drill bit calibration component 6, the movable panel 2 can play a certain buffering role. There will be no hard contact between the drill bit and the movable panel 2, thereby avoiding damage to the drill bit or the drill bit calibration device, and accurately calibrating the length of the drill bit.

[0047] like Figure 2 As shown, preferably, the lifting assembly 3 further includes a helical spring 7, the two ends of which are fixed to the fixed base plate 1 and the movable panel 2, respectively.

[0048] During the length calibration of the drill bit using this device, the drill bit needs to be in contact with the movable panel 2. As analyzed above, the movable panel 2 will experience a process of lowering or rising relative to the fixed base plate 1 due to the force exerted by the drill bit. The function of the helical spring 7 is to provide elastic force corresponding to the force exerted by the drill bit, enabling the movable panel 2 to move up and down. Therefore, the fixed base plate 1 and the movable panel 2 are connected by the helical spring 7. When subjected to external force, the helical spring 7 can ensure that the movable panel 2 moves up and down within the lifting space on the side frame 4, thereby avoiding hard contact between the drill bit and the movable panel 2.

[0049] like Figure 3 As shown, the lifting assembly 3 includes a first lifting bracket 301 and a second lifting bracket 302. The first lifting bracket 301 includes a first lifting support arm 3011, a second lifting support arm 3012, a third lifting support arm 3013, and a fourth lifting support arm 3014, which are connected end-to-end to form the first lifting bracket 301. The second lifting bracket 302 includes a fifth lifting support arm 3021, a sixth lifting support arm 3022, a seventh lifting support arm 3023, and an eighth lifting support arm 3024, which are connected end-to-end to form the second lifting bracket 302. Overall, the first lifting bracket 301 and the second lifting bracket 302 are hollow frame structures.

[0050] The first lifting support arm 3011 is hinged at both ends to the upper surface of the fixed base plate 1, the third lifting support arm 3013 abuts against the lower surface of the movable panel 2, the fifth lifting support arm 3021 is hinged at both ends to the lower surface of the movable panel 2, and the seventh lifting support arm 3023 abuts against the upper surface of the fixed base plate 1; the middle parts of the second lifting support arm 3012 and the middle parts of the sixth lifting support arm 3022 are hinged to each other, and the middle parts of the fourth lifting support arm 3014 and the middle parts of the sixth lifting support arm 3022 are hinged to each other.

[0051] The first lifting bracket 301 and the second lifting bracket 302 form an X-shaped structure. One end of the first lifting bracket 301 and one end of the second lifting bracket 302 are respectively hinged to the fixed base plate 1 and the movable panel 2. The middle parts of the first lifting bracket 301 and the middle parts of the second lifting bracket 302 are hinged to each other. When subjected to external force, the first lifting bracket 301 moves with the hinge point as the center and itself as the radius: when the angle between the first lifting bracket 301 and the fixed base plate 1 increases, the movable panel 2 is in the process of rising; when the angle between the first lifting bracket 301 and the fixed base plate 1 decreases, the movable panel 2 is in the process of falling. During this process, the two ends of the first lifting support arm 3011 are hinged to the fixed base plate 1, the two ends of the fifth lifting support arm 3021 are hinged to the movable panel 2, the middle part of the second lifting support arm 3012 and the middle part of the sixth lifting support arm 3022 are hinged to each other, and the middle part of the fourth lifting support arm 3014 and the middle part of the eighth lifting support arm 3024 are hinged to each other.

[0052] Based on the above structure, the first lifting bracket 301 and the second lifting bracket 302 cooperate with each other, with one end hinged and the other end movably abutting. With the help of the helical spring 7, the movable panel 2 can descend or rise parallel to the fixed base plate 1 when it is subjected to external force or when the external force disappears, thereby ensuring the reliability of the calibration results.

[0053] like Figure 4 and Figure 5 As shown, preferably, the fixed base plate 1 is provided with a first shaft fixing block 101 and a second shaft fixing block 102. The two ends of the first lifting support arm 3011 are respectively provided with a first sleeve shaft and a second sleeve shaft. The first lifting support arm 3011 is hinged to the first shaft fixing block 101 through the first sleeve shaft, and the second lifting support arm 3012 is hinged to the second shaft fixing block 102 through the second sleeve shaft. The movable panel 2 is provided with a third shaft fixing block 201 and a fourth shaft fixing block 202. The two ends of the fifth lifting support arm 3021 are respectively provided with a third sleeve shaft and a fourth sleeve shaft. The fifth lifting support arm 3021 is hinged to the third shaft fixing block 201 through the third sleeve shaft, and the fifth lifting support arm 3021 is hinged to the fourth shaft fixing block 202 through the fourth sleeve shaft.

[0054] Based on the above structure, the first and second connecting shafts at both ends of the first lifting support arm 3011 are hinged to the first and second connecting shafts via the first shaft fixing block 101 and the second shaft fixing block 102, allowing the first lifting support arm 3011 to be hinged to the first and second shaft fixing blocks 101 and 102. Similarly, the third and fourth connecting shafts at both ends of the fifth lifting support arm 3021 are hinged to the third and fourth shaft fixing blocks 201 and 202, allowing the fifth lifting support arm 3021 to be hinged to the third and fourth shaft fixing blocks 201 and 202. Based on the first, second, third, and fourth shaft fixing blocks 101, the first and second lifting supports 301 can rise or fall under the action of the helical spring 7.

[0055] like Figure 4 and Figure 5 As shown, preferably, the fixed base plate 1 is provided with a first limiting protrusion 103 and a second limiting protrusion 104, and the two ends of the third lifting support arm 3013 are respectively provided with a first limiting rod and a second limiting rod. The movable panel 2 is provided with a third limiting protrusion 203 and a fourth limiting protrusion 204, and the two ends of the seventh lifting support arm 3023 are respectively provided with a third limiting rod and a fourth limiting rod.

[0056] During the movement of the movable panel 2 relative to the fixed base plate 1, as the movable panel 2 gradually rises under the elastic force of the helical spring 7, the first and second limiting rods of the third lifting support arm 3013 gradually approach the third limiting protrusion 203 and the fourth limiting protrusion 204, respectively, and the third and fourth limiting rods of the seventh lifting support arm 3023 gradually approach the first limiting protrusion 103 and the second limiting protrusion 104, respectively. When the movable panel 2 rises to its highest point under the elastic force of the helical spring 7, the first and second limiting rods of the third lifting support arm 3013 abut against the third limiting protrusion 203 and the fourth limiting protrusion 204, respectively, and the third and fourth limiting rods of the seventh lifting support arm 3023 abut against the first limiting protrusion 103 and the second limiting protrusion 104, respectively.

[0057] The interaction between the first limiting protrusion 103 and the second limiting protrusion 104 and the first limiting rod and the second limiting rod on the third lifting support arm 3013, and the interaction between the third limiting protrusion 203 and the fourth limiting protrusion 204 and the third limiting rod and the fourth limiting rod on the seventh lifting support arm 3023, prevents the movable panel 2 from rising excessively.

[0058] like Figure 4 and Figure 5As shown, preferably, the upper surface of the fixed base plate 1 is recessed inward to form a first spring fixing ring 105, the lower surface of the movable panel 2 is recessed inward to form a second spring fixing ring 205, one end of the helical spring 7 is embedded and fixed in the first spring fixing ring 105, and the other end of the helical spring 7 is embedded and fixed in the second spring fixing ring 205.

[0059] The function of the helical spring 7 is to cooperate with external force to ensure that the movable panel 2 moves up and down within the lifting space on the side frame 4. Based on the above structure, a first spring fixing ring 105 and a second spring fixing ring 205 are formed by inward recesses on the upper surface of the fixed base plate 1 and the lower surface of the movable panel 2, respectively, so that the helical spring 7 can be better fixed on the fixed base plate 1 and the movable panel 2.

[0060] Specifically, the side frame 4 includes a first side, a second side, a third side, and a fourth side, which are connected end to end to form the side frame 4. The side frame 4 forms a lifting space by the first side, the second side, the third side, and the fourth side, and there is a gap between the movable panel 2 and the first side, the second side, the third side, and the fourth side.

[0061] During the calibration process, the movable panel 2 will undergo slight movements, and there are moving parts such as the lifting assembly 3 between the movable panel 2 and the fixed base plate 1. To prevent the movable panel 2 and the lifting assembly 3 from affecting the outside during operation, a side frame 4 is formed by the first side, the second side, the third side, and the fourth side. A lifting space is formed within the side frame 4, and the movable panel 2 is set within the lifting space. The side frame 4 ensures that the movable panel 2 operates smoothly.

[0062] like Figure 2 As shown, preferably, at least one elongated through hole 401 is provided on the first side, the second side, the third side and the fourth side, and the elongated through hole 401 is located near the upper surface of the fixed base plate 1.

[0063] The fixed base plate 1 and the side frame 4 form a relatively enclosed space. During the operation of the movable panel 2, the air within this enclosed space will inevitably be compressed, and the change in air pressure will have a certain impact on the movable panel 2. In addition, this device may be disinfected before and after use, and the enclosed space is not conducive to liquid drainage. Therefore, during the process of the movable panel 2 rising or falling within the side frame 4, at least one elongated through hole 401 is provided on the first, second, third, and fourth sides. The elongated through hole 401 can guide the gas in the space to drain smoothly, ensuring the smooth operation of the movable panel 2; at the same time, it facilitates the drainage of liquid during the disinfection process.

[0064] Specifically, the fixed base plate 1, the movable panel 2, and the side frame 4 are made of aluminum alloy. Using an aluminum alloy structure for the fixed base plate 1, movable panel 2, and side frame 4 increases the strength of the device and reduces its weight.

[0065] Preferably, the lower surface of the fixed base plate 1 has four internal threaded holes, which are used to engage with bolts to fix the fixed base plate 1 to the work surface. By providing internal threaded holes, the device can be easily fixed and installed on the work surface after engaging external bolts, thus improving the assembly flexibility of the device.

[0066] To address the aforementioned problems, this invention provides a method for calibrating a mobile phone drill bit, the method being based on an optical positioning device, a mobile phone, a planting robot, a robot calibration board, a mobile phone tracker, and the movable drill bit calibration device described above.

[0067] Before implementing the planting handpiece drill bit calibration method based on this movable drill bit calibration device, the equipment needs to be configured as follows: the planting handpiece is fixedly installed at the end of the robotic arm of the planting robot, a force sensor is installed inside the robotic arm, the robot calibration plate is fixedly installed in the mounting sleeve at the front end of the planting handpiece, the handpiece tracker is fixedly installed at the rear end of the planting handpiece, the robot calibration plate is provided with multiple calibration plate marking points, and the handpiece tracker is provided with multiple tracker marking points.

[0068] like Figure 6 As shown, a method for calibrating a planting mobile phone drill bit includes the following steps: S1. Control the robotic arm to move the implantation mobile phone sequentially to multiple different poses; during the pose transition of the implantation mobile phone, the implantation robot, the robot calibration board, the mobile phone tracker, and the movable drill bit calibration device are all simultaneously within the optical field of view of the optical positioning instrument. Step S1 controls the movement of the implantation mobile phone, ensuring that during the movement, the implantation mobile phone, the implantation robot, the robot calibration board, the mobile phone tracker, and the movable drill bit calibration device are all simultaneously within the optical field of view of the optical positioning instrument.

[0069] S2. When the implanting mobile phone is in different poses, the optical positioning device is controlled to acquire real-time images of the calibration plate markers on the robot calibration board, the tracker markers on the mobile phone tracker, and the optical marking component 5 on the movable drill bit calibration device. In step S1, when the implanting mobile phone changes pose, the implanting mobile phone, the implanting robot, the robot calibration board, the mobile phone tracker, and the movable drill bit calibration device are all simultaneously within the optical field of view of the optical positioning device. The optical positioning device can directly acquire real-time images of the robot calibration board, the mobile phone tracker, and the movable drill bit calibration device. The purpose of step S2 is to perform data acquisition, acquiring real-time images of the calibration plate markers on the robot calibration board, the tracker markers on the mobile phone tracker, and the optical marking component 5 on the movable drill bit calibration device, in preparation for subsequent data processing.

[0070] S3. Obtain the 3D coordinate data of the robot calibration board in the robot's 3D coordinate system based on the control data of the planting robot; analyze the 3D coordinate data of the robot calibration board in the optical positioning instrument's 3D coordinate system based on the real-time images of the calibration board's marked points collected by the optical positioning instrument. The purpose of step S3 is to obtain the 3D coordinate data of the same object, i.e., the robot calibration board, in two different 3D coordinate systems, namely the robot's 3D coordinate system and the optical positioning instrument's 3D coordinate system, in preparation for the calibration of the planting robot.

[0071] S4. Based on the 3D coordinate data of the robot calibration board in the robot's 3D coordinate system and the 3D coordinate data of the optical locator in the 3D coordinate system, the coordinate transformation relationship between the robot's 3D coordinate system and the optical locator's 3D coordinate system is analyzed, thereby calibrating the planting robot. In step S4, the robot calibration board is used as a bridge to establish a connection between the robot's 3D coordinate system and the optical locator's 3D coordinate system. Based on the 3D coordinate data of the robot calibration board in the robot's 3D coordinate system and the 3D coordinate data of the optical locator in the 3D coordinate system, the coordinate transformation relationship between the robot's 3D coordinate system and the optical locator's 3D coordinate system is calculated. Thus, the data collected by the optical locator can be used as a reference to control the movement of the planting robot.

[0072] S5. Based on the real-time images of the calibration board markers and the tracker markers simultaneously acquired by the optical positioning instrument, the three-dimensional coordinate data of the robot calibration board in the three-dimensional coordinate system of the optical positioning instrument and the three-dimensional coordinate data of the mobile phone tracker in the three-dimensional coordinate system of the optical positioning instrument at the same moment are analyzed. Based on this, the coordinate transformation relationship between the calibration board three-dimensional coordinate system, the tracker three-dimensional coordinate system, and the coordinate transformation relationship between any two of the three-dimensional coordinate system of the optical positioning instrument are obtained, thereby calibrating the planted mobile phone. In step S5, since the optical positioning instrument simultaneously captures images of the calibration board markers and the tracker markers, the three-dimensional coordinate data of the robot calibration board in the three-dimensional coordinate system of the optical positioning instrument and the three-dimensional coordinate data of the mobile phone tracker in the three-dimensional coordinate system of the optical positioning instrument at the same moment can be obtained. Combined with the premise that the three-dimensional coordinate data of the calibration board markers in the calibration board three-dimensional coordinate system and the tracker markers in the tracker three-dimensional coordinate system are known, the coordinate transformation relationship between the calibration board three-dimensional coordinate system, the tracker three-dimensional coordinate system, and the coordinate transformation relationship between any two of the three-dimensional coordinate system of the optical positioning instrument can be analyzed.

[0073] S6. Based on the real-time image of the optical marker component 5 on the movable drill bit calibration device, obtain the real-time pose of the movable drill bit calibration device, and determine the position and normal coordinates of the drill bit calibration component 6 in the three-dimensional coordinate system of the optical positioner. In step S6, the position of the optical marker component 5 on the movable drill bit calibration device is known. Based on the real-time image of the optical marker component 5, the real-time pose of the movable drill bit calibration device can be determined, thereby determining the position and normal coordinates of the drill bit calibration component 6 in the three-dimensional coordinate system of the optical positioner.

[0074] S7. Based on the real-time image of the tracker markers on the mobile phone tracker, and using the coordinate data of the drill bit starting point and drill bit axis in the three-dimensional coordinate system of the tracker in the implantation mobile phone, obtain the coordinate data of the drill bit starting point and drill bit axis in the three-dimensional coordinate system of the optical positioning instrument. In step S7, the drill bit of the implantation mobile phone can be located based on the real-time image of the tracker markers, and the coordinate data of the drill bit starting point and drill bit axis in the three-dimensional coordinate system of the optical positioning instrument can be obtained, preparing for drill bit length calibration.

[0075] S8. Based on the coordinate data of the position and normal of the drill bit calibration component 6 in the three-dimensional coordinate system of the optical locator, and combined with the coordinate data of the drill bit starting point and drill bit axis in the implantation handpiece in the three-dimensional coordinate system of the optical locator, the real-time relative positional relationship between the drill bit calibration component 6 and the implantation handpiece is obtained. In step S8, based on the structure output from steps S6 and S7, the real-time relative positional relationship between the drill bit calibration component 6 and the implantation handpiece can be directly obtained.

[0076] S9. Based on the coordinate transformation relationship between the robot's three-dimensional coordinate system and the optical positioning system's three-dimensional coordinate system, robot control data is generated according to the real-time relative position relationship between the drill calibration component 6 and the implantation mobile phone. This guides the robotic arm to move the drill on the implantation mobile phone towards the drill calibration component 6 at a preset speed in the vertical direction. Real-time data collected by the force sensor is detected, and the robotic arm stops when the real-time data reaches a preset value. In step S9, during the length calibration of the drill, the drill gradually approaches and eventually abuts against the drill calibration component 6. After this contact occurs, the force on the drill gradually increases. The force sensor's role is to sense the force on the drill in real time. When the real-time data reaches a preset value, the robotic arm stops to prevent equipment damage. During this process, since the movable panel 2 is movable relative to the fixed base plate 1, it provides excellent cushioning, further reducing the risk of equipment damage.

[0077] S10. After the robotic arm stops running, the optical positioning device simultaneously acquires real-time images of the tracker markers on the mobile phone tracker and the optical marker component 5 on the movable drill calibration device. Based on the real-time images of the tracker markers on the mobile phone tracker, the coordinate data of the drill start point and drill axis in the planting mobile phone in the three-dimensional coordinate system of the optical positioning device are obtained. Based on the real-time images of the optical marker component 5 on the movable drill calibration device, the coordinate data of the drill end point in the planting mobile phone in the three-dimensional coordinate system of the optical positioning device are obtained. In step S10, since the position and normal of the drill calibration component 6 are known, and the coordinate data of the drill start point and drill axis in the three-dimensional coordinate system of the optical positioning device are also known, and the calibration of the planting mobile phone and the planting robot has been completed, the coordinate data of the drill end point in the planting mobile phone in the three-dimensional coordinate system of the optical positioning device can be known.

[0078] S11. Based on the coordinate data of the drill bit starting point and drill bit axis in the three-dimensional coordinate system of the optical positioning instrument, and the coordinate data of the drill bit ending point in the three-dimensional coordinate system of the optical positioning instrument, determine the drill bit length and drill bit axis, and complete the drill bit calibration. In step S11, based on the structure obtained in the previous steps, the drill bit length and drill bit axis can be determined through simple calculation.

[0079] It should be understood that the application of the present invention is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A movable drill bit calibration device, characterized in that, include: A fixed base plate and a movable panel, wherein the fixed base plate and the movable panel are square plate structures, the fixed base plate and the movable panel are parallel to each other, and the movable panel is provided with multiple optical marking components and a drill bit calibration component on its upper surface; A lifting assembly is disposed between the fixed base plate and the movable panel, and is used to support the movable panel to rise or fall relative to the fixed base plate; the lifting assembly also includes a helical spring, the two ends of which are respectively fixed to the fixed base plate and the movable panel; the lifting assembly includes a first lifting bracket and a second lifting bracket; The first lifting bracket includes a first lifting support arm, a second lifting support arm, a third lifting support arm, and a fourth lifting support arm, which are connected end to end in sequence to form the first lifting bracket. The second lifting support includes a fifth lifting support arm, a sixth lifting support arm, a seventh lifting support arm, and an eighth lifting support arm, which are connected end to end in sequence to form the second lifting support. The first lifting support arm is hinged at both ends to the upper surface of the fixed base plate; the third lifting support arm abuts against the lower surface of the movable panel; the fifth lifting support arm is hinged at both ends to the lower surface of the movable panel; and the seventh lifting support arm abuts against the upper surface of the fixed base plate. The middle parts of the second lifting support arm and the sixth lifting support arm are hinged to each other, and the middle parts of the fourth lifting support arm and the sixth lifting support arm are hinged to each other. The side frame is fixedly mounted on the fixed base plate. The side frame is a frame structure. A lifting space is formed around the side frame. The movable panel moves up and down within the lifting space under the combined action of the lifting component and external force. When the movable panel rises or falls relative to the fixed base plate, the two ends of the first lifting support arm are hinged to the fixed base plate, the two ends of the fifth lifting support arm are hinged to the movable panel, the middle parts of the second lifting support arm and the middle parts of the sixth lifting support arm are hinged to each other, and the middle parts of the fourth lifting support arm and the middle parts of the eighth lifting support arm are hinged to each other.

2. The movable drill bit calibration device according to claim 1, characterized in that, The fixed base plate is provided with a first shaft fixing block and a second shaft fixing block. The two ends of the first lifting support arm are respectively provided with a first sleeve shaft and a second sleeve shaft. The first lifting support arm is hinged to the first shaft fixing block through the first sleeve shaft, and the second lifting support arm is hinged to the second shaft fixing block through the second sleeve shaft. The movable panel is provided with a third axis fixing block and a fourth axis fixing block. The two ends of the fifth lifting support arm are respectively provided with a third sleeve shaft and a fourth sleeve shaft. The fifth lifting support arm is hinged to the third axis fixing block through the third sleeve shaft and to the fourth axis fixing block through the fourth sleeve shaft.

3. The movable drill bit calibration device according to claim 2, characterized in that, The fixed base plate is provided with a first limiting protrusion and a second limiting protrusion, and the two ends of the third lifting support arm are respectively provided with a first limiting rod and a second limiting rod; The movable panel is provided with a third limiting protrusion and a fourth limiting protrusion, and the two ends of the seventh lifting support arm are respectively provided with a third limiting rod and a fourth limiting rod; As the movable panel gradually rises under the force of the helical spring, the first and second limiting rods of the third lifting support arm gradually approach the third and fourth limiting protrusions, respectively, and the third and fourth limiting rods of the seventh lifting support arm gradually approach the first and second limiting protrusions, respectively. When the movable panel rises to its highest position under the elastic force of the helical spring, the first and second limiting rods of the third lifting support arm abut against the third and fourth limiting protrusions, respectively, and the third and fourth limiting rods of the seventh lifting support arm abut against the first and second limiting protrusions, respectively.

4. The movable drill bit calibration device according to claim 1, characterized in that, The upper surface of the fixed base plate is recessed inward to form a first spring fixing ring, and the lower surface of the movable panel is recessed inward to form a second spring fixing ring. One end of the helical spring is embedded and fixed in the first spring fixing ring, and the other end of the helical spring is embedded and fixed in the second spring fixing ring.

5. The movable drill bit calibration device according to claim 1, characterized in that, The side frame includes a first side, a second side, a third side, and a fourth side, which are connected end to end to form the side frame. The side frame is formed by the first side, the second side, the third side and the fourth side to create a lifting space, and there is a gap between the movable panel and the first side, the second side, the third side and the fourth side.

6. The movable drill bit calibration device according to claim 5, characterized in that, At least one elongated through hole is provided on the first side, the second side, the third side and the fourth side, and the elongated through hole is located near the upper surface of the fixed base plate.

7. The movable drill bit calibration device according to claim 1, characterized in that, The fixed base plate, the movable panel, and the side frame are made of aluminum alloy.

8. A method for calibrating a planting mobile phone drill bit, characterized in that, The method is based on an optical positioning device, a planting mobile phone, a planting robot, a robot calibration plate, a mobile phone tracker, and the movable drill bit calibration device according to any one of claims 1-9. The planting mobile phone is fixedly installed at the end of the robotic arm of the planting robot, and a force sensor is installed inside the robotic arm. The robot calibration plate is fixedly installed in the mounting sleeve at the front end of the planting mobile phone, and the mobile phone tracker is fixedly installed at the rear end of the planting mobile phone. The robot calibration plate is provided with multiple calibration plate marking points, and the mobile phone tracker is provided with multiple tracker marking points. The method includes the following steps: S1. Control the robotic arm to move the implantation mobile phone to multiple different poses in sequence; during the pose transformation of the implantation mobile phone, the implantation mobile phone, the implantation robot, the robot calibration board, the mobile phone tracker and the movable drill bit calibration device are all simultaneously located under the optical field of view of the optical positioning instrument; S2. When the planting mobile phone is in different positions, control the optical positioning device to collect real-time images of the calibration plate marking points on the robot calibration plate, control the optical positioning device to collect real-time images of the tracker marking points on the mobile phone tracker, and control the optical positioning device to collect real-time images of the optical marking components on the movable drill bit calibration device. S3. Obtain the three-dimensional coordinate data of the robot calibration board in the robot's three-dimensional coordinate system based on the control data of the planting robot; analyze the three-dimensional coordinate data of the robot calibration board in the three-dimensional coordinate system of the optical locator based on the real-time images of the calibration board markers collected by the optical locator. S4. Based on the three-dimensional coordinate data of the robot calibration board in the robot's three-dimensional coordinate system and the three-dimensional coordinate data in the optical positioning instrument's three-dimensional coordinate system, analyze the coordinate transformation relationship between the robot's three-dimensional coordinate system and the optical positioning instrument's three-dimensional coordinate system, thereby calibrating the planting robot. S5. Based on the real-time images of the calibration board markers and the tracker markers simultaneously acquired by the optical positioning instrument, analyze the three-dimensional coordinate data of the robot calibration board in the three-dimensional coordinate system of the optical positioning instrument and the three-dimensional coordinate data of the mobile phone tracker in the three-dimensional coordinate system of the optical positioning instrument at the same moment. Based on this, obtain the coordinate transformation relationship between the three-dimensional coordinate system of the calibration board, the three-dimensional coordinate system of the tracker, and any two of the three-dimensional coordinate system of the optical positioning instrument, so as to calibrate the planting mobile phone. S6. Based on the real-time image of the optical marking component on the movable drill bit calibration device, obtain the real-time pose of the movable drill bit calibration device, and determine the position and normal coordinate data of the drill bit calibration component in the three-dimensional coordinate system of the optical positioning instrument. S7. Based on the real-time image of the tracker markers on the mobile phone tracker, and based on the coordinate data of the drill bit start point and drill bit axis in the three-dimensional coordinate system of the tracker in the planting mobile phone, obtain the coordinate data of the drill bit start point and drill bit axis in the three-dimensional coordinate system of the optical positioning instrument in the planting mobile phone; S8. Based on the position and normal coordinates of the drill bit calibration component in the three-dimensional coordinate system of the optical locator, and combined with the coordinates of the drill bit starting point and drill bit axis in the implantation handpiece in the three-dimensional coordinate system of the optical locator, obtain the real-time relative position relationship between the drill bit calibration component and the implantation handpiece. S9. Based on the coordinate transformation relationship between the robot's three-dimensional coordinate system and the optical positioning instrument's three-dimensional coordinate system, robot control data is generated according to the real-time relative position relationship between the drill bit calibration component and the implantation mobile phone. The robotic arm is guided to drive the drill bit on the implantation mobile phone to approach the drill bit calibration component in the vertical direction at a preset speed. The real-time data collected by the force sensor is detected. When the real-time data of the force sensor reaches the preset value, the robotic arm is controlled to stop running. S10. After the robotic arm stops running, control the optical positioning device to simultaneously acquire real-time images of the tracker markers on the mobile phone tracker and the optical marking components on the movable drill bit calibration device; based on the real-time images of the tracker markers on the mobile phone tracker, acquire the coordinate data of the drill start point and drill axis in the planting mobile phone in the three-dimensional coordinate system of the optical positioning device; based on the real-time images of the optical marking components on the movable drill bit calibration device, acquire the coordinate data of the drill end point in the planting mobile phone in the three-dimensional coordinate system of the optical positioning device. S11. Based on the coordinate data of the drill bit starting point and drill bit axis in the three-dimensional coordinate system of the optical locator and the coordinate data of the drill bit ending point in the three-dimensional coordinate system of the optical locator, determine the drill bit length and drill bit axis, and complete the drill bit calibration.

Images