An intelligent dental preparation system

Abstract

This invention discloses an intelligent tooth preparation system, belonging to the field of medical device technology. It utilizes a visual tracking system to monitor the position of a marker in real time, thereby completing hand-eye calibration of the robotic arm, drill tip calibration, and intraoral registration. During tooth preparation, the position of the intraoral marker is monitored in real time. Based on the positional changes of the intraoral marker and its relative positional relationship with the target tooth, the real-time position of the target tooth is obtained. The motion scheme of the robotic arm's end effector is adjusted according to the real-time positional changes of the target tooth. Compared with existing technologies, this application can reduce the manual dependence of tooth preparation, achieving precise, efficient, minimally invasive, and safe tooth preparation through automation and intelligence, thus ensuring the quality of tooth preparation.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically, to an intelligent tooth preparation system and restoration system. Background Technology

[0002] Tooth preparation is a crucial step in dental restoration, especially fixed dental restorations. During preparation, the target tooth must be precisely cut to a specific shape to provide retention and ensure sufficient resistance for the restoration. Therefore, the quality of tooth preparation is critical to the restorative outcome.

[0003] Traditional free-handed procedures heavily rely on the surgeon's experience. Tooth preparation demands a high level of fine motor skill from the dentist. Furthermore, limitations imposed by the limited intraoral field of vision, patient tooth position, body position, and mouth opening range necessitate extensive training and practice before clinical practice to minimize the risks associated with hand tremors and achieve clinically acceptable preparation results. This high degree of reliance on manual intervention leads to high surgical risks and unpredictable preparation outcomes.

[0004] Therefore, how to reduce the reliance on manual tooth preparation has become an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide an intelligent tooth preparation system and a restoration system to solve the aforementioned technical problems.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A smart tooth preparation system, comprising: The system includes a component system, a planning system, a calibration system, an execution system, and a real-time data acquisition and feedback control system. The accessory system acquires the patient's preoperative oral biometric data, generates data for intraoral accessories used for tooth preparation based on this data, and manufactures intraoral accessories for tooth preparation according to the intraoral accessory data. The intraoral accessories include a tooth preparation protector with a marker installed. The intraoral accessory data includes information on the virtual tooth structure, registration point, and position of the marker on the tooth preparation protector. The execution system includes a robotic arm and a dental handpiece and drill bit mounted on its execution end. The planning system acquires the patient's preoperative oral biological data and intraoral accessory data, and generates target tooth preparation data and plans the drill bit preparation path for grinding the preparation. The planning system also plans the preparation path of the robotic arm execution end and generates the corresponding robotic arm execution end motion scheme to match and realize the drill bit preparation path scheme. The calibration system and the real-time data acquisition and feedback control system share the same information acquisition execution mechanism. The information acquisition execution mechanism includes a visual tracking mechanism, which can identify and track the marker to obtain the real-time position information of the marker. The calibration system performs hand-eye calibration of the robotic arm and drill tip calibration through the visual tracking mechanism, the marker on the robotic arm, and another marker at a known position outside the robotic arm. The calibration system performs probe tip calibration through the visual tracking mechanism, the marker on the probe, and another marker at a known position outside the robotic arm. When the patient wears and retains the tooth preparation protector, the position of the target tooth can be obtained based on the position of the virtual tooth structure. The probe touches the registration point on the tooth preparation protector inside the mouth. The calibration system performs target tooth registration calibration through the visual tracking mechanism, probe tip calibration information, virtual tooth structure, registration point, and the position information of the marker on the tooth preparation protector. Based on the calibration results of the calibration system, the execution system controls its robotic arm to execute the motion plan of the robotic arm's end effector to perform tooth preparation. During the tooth preparation process, the motion plan of the execution system's actuator is subject to real-time control by the real-time data acquisition and feedback control system. The real-time data acquisition and feedback control system monitors the position of the markers on the tooth preparation protector in real time through a visual tracking mechanism, calculates the real-time position of the target tooth based on its position changes and intraoral accessory data, and adjusts the motion plan of the robotic arm's end effector in real time to achieve real-time adjustment of the drill bit position, compensating for and correcting the errors caused by changes in the target tooth position due to the patient's micro-movements during the process.

[0007] Preferably, the information acquisition mechanism also includes a force sensor installed at the end of the robotic arm. The real-time data acquisition and feedback control system is equipped with a database of tooth tissue and restorative material hardness. The real-time data acquisition and feedback control system measures the force data of the structure being ground on the drill bit in real time through the force sensor, analyzes the hardness of the structure being ground based on the force data, identifies the type of tooth tissue or restorative material of the structure being ground in real time using its database, and adjusts the dental handpiece rotation speed and robotic arm movement speed in real time according to the real-time information of this type.

[0008] Preferably, the planning system acquires the patient's preoperative oral biological data, and the planning system has a planning database to configure tooth preparation data according to the selected expected restorative material. The planning system communicates with the accessory system to obtain intraoral accessory data. The planning system generates target tooth preparation data and obstacle avoidance drill preparation path scheme for grinding the preparation based on the preoperative oral biological data, tooth preparation data and intraoral accessory data. The planning system generates motion scheme for the robotic arm execution end effector to match and realize the drill preparation path scheme.

[0009] Preferably, the planning system acquires the patient's preoperative oral biometric data, feeds back the feature line data of the target tooth from the preoperative oral biometric data for manual adjustment and correction of the feature line position, acquires the corrected feature line data, and uses it to generate target tooth preparation data and a drill preparation path scheme for grinding the preparation. The planning system generates a motion scheme for the robotic arm's end effector to match and implement the drill preparation path scheme. The feature line data includes gingival margin data and central sulcus feature line data. The generation logic of the drill preparation path scheme is as follows: based on the feature line data, offset calculations are performed according to preset parameters and a specific direction to generate the motion trajectory points of the drill tip; the drill posture is then determined through secondary optimization using given directional constraints and obstacle avoidance calculations.

[0010] Preferably, the preoperative oral biodata includes oral scan data, and also includes at least one of mandibular movement data and mouth opening data.

[0011] Preferably, the preoperative oral biological data includes preoperative 3D morphological data of the target tooth, and the planning system generates target tooth preparation data and drill preparation path plan based on the preoperative 3D morphological data of the target tooth and the expected restoration material after surgery.

[0012] Preferably, the real-time data acquisition and feedback control system establishes the limited working area of ​​the robotic arm's end effector based on intraoral accessory data and preoperative oral biological data. During tooth preparation, the end effector is always restricted to the working area so that the actuator of the system can avoid obstacles.

[0013] Preferably, the real-time data acquisition and feedback control system monitors the position of the marked part on the robotic arm in real time through a vision tracking mechanism, and indirectly obtains the real-time angle of each joint of the robotic arm and the real-time movement speed of the end effector.

[0014] Preferably, during the target tooth registration and calibration process, the calibration system recalibrates the probe tip using a visual tracking mechanism, a marker on the probe, and another marker at a known location outside the robotic arm to calibrate the probe tip. After calibration, the probe is used to contact the registration point on the tooth protector inside the mouth. The location of the registration point is identified based on the calibrated probe tip calibration information, thereby performing the target tooth registration and calibration.

[0015] Compared with existing technologies, this invention can reduce the manual operation required to perform tooth preparation, reduce the dependence on manual tooth preparation, and ensure the effect of tooth preparation. Attached Figure Description

[0016] Figure 1 This is a schematic diagram illustrating tooth preparation using the intelligent tooth preparation system of Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the present invention used for intraoral registration.

[0017] Figure reference numerals: 100, 3D printer; 210, binocular vision tracking mechanism; 220, interactive interface; 400, robotic arm; 420, dental handpiece; 410, marker point a; 510, tooth preparation protector; 520, oral marking plate b; 521, marker point b; 600, probe; 610, marker point d. Detailed Implementation

[0018] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0019] This invention provides an intelligent dental preparation system, including an accessory system, a planning system, a calibration system, an execution system, and a real-time data acquisition and feedback control system.

[0020] The accessory system acquires the patient’s preoperative oral biodata and generates data for intraoral accessories used for tooth preparation. The intraoral accessories for tooth preparation are made according to the intraoral accessory data. The intraoral accessories include a tooth preparation protector with a marker installed. The intraoral accessory data includes virtual tooth structure, registration point and position information of the marker on the tooth preparation protector. The actuator of the execution system includes a robotic arm 400 and a dental handpiece 420 mounted at its end effector, a drill bit driven by the dental handpiece 420, and a force sensor. The robotic arm 400 includes its configured power unit, and the force sensor and handpiece clamp are fixed at the end effector of the robotic arm, thereby securing the high-speed dental handpiece 420.

[0021] The planning system acquires drill bit data, the patient's preoperative oral biological data, and intraoral accessory data. Based on this, it generates target tooth preparation data and plans a drill bit preparation path for grinding the preparation while avoiding obstacles. The planning system also plans the robotic arm execution end preparation path and generates a corresponding robotic arm execution end motion scheme to match and realize the drill bit preparation path scheme. The robotic arm execution end motion scheme enables the execution mechanism of the execution system to avoid obstacles, ensuring that there are no collisions between the drill bit and the target tooth during the entire intraoral procedure. The calibration system and the real-time data acquisition and feedback control system share the same information acquisition execution mechanism. The information acquisition execution mechanism includes a visual tracking mechanism, which can identify and track the marker to obtain the real-time position information of the marker. The calibration system performs hand-eye calibration of the robotic arm 400 and drill tip calibration through the visual tracking mechanism, the marker on the robotic arm 400, and another marker at a known position outside the robotic arm. The calibration system performs probe tip calibration through the visual tracking mechanism, the marker on the probe, and another marker at a known position outside the robotic arm. When the patient wears and retains the tooth preparation protector, the position of the target tooth can be obtained based on the position of the virtual tooth structure. The probe tip touches the registration point on the tooth preparation protector inside the mouth. The calibration system performs target tooth registration calibration through the visual tracking mechanism, probe tip calibration information, virtual tooth structure, registration point, and the position information of the marker on the tooth preparation protector. Based on the calibration results of the calibration system, the execution system controls the movement of its robotic arm 400 at the end effector to perform tooth preparation. During tooth preparation, the movement of the execution system's actuator is subject to real-time adjustment by the real-time data acquisition and feedback control system. This adjustment aims to compensate for errors caused by micro-movements, thereby obtaining the target tooth preparation. The real-time data acquisition and feedback control system monitors the position of the markers on the tooth preparation protector in real time through a visual tracking mechanism. Based on the positional changes and intraoral accessory data, it calculates the real-time position of the target tooth and adjusts the movement of the robotic arm's end effector in real time to achieve real-time adjustment of the drill bit position, compensating for and correcting errors caused by changes in the target tooth position due to the patient's micro-movements during the process.

[0022] Compared with existing technologies, this invention can reduce the manual dependence of tooth preparation and solve the problems of precision control, spatial obstacle avoidance and material adaptive cutting in tooth preparation.

[0023] In one possible implementation, the information acquisition mechanism also includes a force sensor mounted on the end effector of the robotic arm. The force sensor is shared by the execution system and the information acquisition mechanism; in other words, the force sensor is part of both the execution system and the information acquisition mechanism. The visual tracking mechanism uses the Fusion Track250 optical tracking system. The real-time data acquisition and feedback control system is equipped with a database of tooth tissue and restorative material hardness. The system measures the force data of the material being removed on the drill bit in real time using a force sensor, and determines the end effector pose of the robotic arm by combining this data with the real-time position information of the robotic arm markers and the oral markers provided by the Fusion Track250 optical tracking system. Simultaneously, the end effector velocity is obtained based on feedback from the robotic arm controller or from the difference in end effector pose between two adjacent moments, and kinematic parameters such as joint angles are acquired. The hardness of the material being removed is analyzed based on the force data, the real-time position information of the robotic arm markers and the oral markers, and the end effector velocity and joint angles.

[0024] The real-time data acquisition and feedback control system is connected to the planning system to acquire drill bit data, drill bit preparation path and patient's preoperative oral biological data, thereby obtaining the geometric parameters, real-time trajectory and preoperative and initialized three-dimensional model of the tooth preparation bur (drill bit).

[0025] At sampling time Time (sampling period is) The real-time data acquisition and feedback control system collects force data from the mechanical sensors in the sensor coordinate system and obtains the compensated force vector after zero-point drift compensation. Based on the end-effector pose and drill bit installation relationship, the compensated force vector is transformed to the drill bit coordinate system. Based on the 3D model of the tooth, the contact point between the drill bit and the tooth, the local surface normal, and the local cutting velocity direction at the contact point are determined, thereby extracting the tangential grinding force. and normal force ; At the same time, based on time Three-dimensional model of tooth preparation, drill bit model and to + The drill bit sweep volume is constructed based on the drill bit pose trajectory t, and the theoretical grinding volume increment is calculated. The three-dimensional model of the tooth in preparation is obtained by iteratively updating the preoperative three-dimensional model of the tooth combined with the historical drill bit grinding trajectory; and the three-dimensional model of the tooth in preparation is updated according to the theoretical grinding volume increment to obtain the time step. + A three-dimensional model of the tooth body.

[0026] This yields the instantaneous material removal rate. And construct an equivalent energy removal index per unit volume. : in, The drill bit angular velocity, The equivalent cutting radius at the contact point; for different drill bit types, rotational speeds, feed rates, etc., a calibration mapping relationship between the equivalent energy index per unit volume removal and the material hardness is established in advance using samples with known reference hardness. And the hardness estimate The system matches the reference hardness ranges of enamel, dentin, and dental restorative materials in the material database to identify the material type of the structure to be removed; based on the identified material type, the dental handpiece rotation speed, robotic arm feed speed, path step distance, and / or single cutting depth are adjusted in real time.

[0027] Preferably, the real-time data acquisition and feedback control system does not identify the structure to be ground based solely on the magnitude of the force at a single moment. Instead, it constructs a multi-dimensional mechanical response characteristic of the material at the current location based on real-time acquisition of triaxial force / torque data from the mechanical sensors at the end of the robotic arm, the current position and attitude of the drill bit, the expected amount of material to be removed at that location corresponding to the drill bit preparation path, the drill bit type and wear status, the current rotation speed and cooling status of the dental handpiece, and historical force variation curves. The system matches this multi-dimensional mechanical response characteristic with a pre-established database of dental tissue / restorative materials, outputs the material type, hardness range, or equivalent machinability parameters of the structure to be ground at the current location, and determines the target force range, target material removal rate, and corresponding robotic arm movement speed and dental handpiece rotation speed control values ​​for that location.

[0028] Furthermore, the database preferably stores mechanical response templates of natural tooth tissue and common restorative materials under standard operating conditions. These standard operating conditions include at least drill bit type, grit size, cooling conditions, rotational speed range, contact posture, and amount of material removed per unit time. Natural tooth tissue may include enamel, superficial dentin, and deep dentin; restorative materials may include composite resin, glass ionomer, resin nanoceramics, lithium disilicate, zirconia-reinforced lithium silicate, zirconia, etc. Those skilled in the art will recognize that the microhardness of different materials varies significantly. Although different sample preparations and loading conditions may alter the absolute values, the mechanical differences between materials are sufficient to serve as the basis for database modeling and classification.

[0029] Furthermore, during path execution, the real-time data acquisition and feedback control system not only considers the material type and hardness at the current location, but also combines the local preparation amount, remaining tooth thickness, risk level near the gingival margin / adjacent tooth / near the pulp chamber, and the contact width between the drill bit and the tooth surface to calculate the target processing load at that location. Preferably, the real-time data acquisition and feedback control system connects to the dental handpiece and robotic arm through its own controller to control and adjust the dental handpiece rotation speed and robotic arm movement speed. This controller adopts a hierarchical control strategy, including an outer planning control and an inner feedback control. The outer planning control is used to determine the target processing load range, target material removal rate range, theoretically optimal robotic arm feed speed, and dental handpiece rotation speed at the current location based on real-time force data, material identification results, and path planning information (path planning information includes drill bit preparation path information). The inner feedback control is used to track the target processing load range based on the real-time detected actual load, normal force, tangential force, and their rate of change, and to adjust the actual robotic arm feed speed and the actual dental handpiece rotation speed in real time.

[0030] Specifically, when the drill bit enters a new path segment or path point area, the identified material type changes, the hardness estimate crosses the preset hardness range, or at least one of the following changes exceeds the corresponding threshold: local preparation amount, remaining tooth thickness, near-gingival margin risk level, near-adjacent tooth risk level, near-pulp cavity risk level, and contact width, the outer planning control is triggered to update the target processing load range, target material removal rate range, theoretical optimal robotic arm feed speed, and dental handpiece rotation speed.

[0031] When the real-time load exceeds the upper limit of the target processing load range, the force change rate exceeds the preset threshold, or a force peak, force drop, or abnormal vibration is detected, the inner feedback control outputs a load reduction control signal to reduce the robot arm feed speed and, as needed, reduce the dental handpiece speed, control drill bit retraction, and / or pause cutting. When the real-time load is below the lower limit of the target processing load range and no force peak, force drop, or abnormal vibration is detected, the inner feedback control outputs an enhancement control signal to increase the robot arm feed speed and, as needed, increase the dental handpiece speed.

[0032] When the actual load continues to deviate from the target processing load range for a preset time or a preset number of samplings, the inner feedback control outputs a replanning trigger signal to trigger the outer planning control to recalculate the target processing parameters corresponding to the current position.

[0033] Through the above-mentioned hierarchical control, the outer planning control is used to determine the target processing parameters at the current position, and the inner feedback control is used to quickly correct the actuator according to the real-time force, thereby suppressing force overshoot caused by local material changes, geometric abrupt changes or contact state changes, while taking into account processing efficiency, preparatory accuracy and surface quality.

[0034] Furthermore, the data acquisition and feedback control system is also connected to the planning system to obtain the planned robotic arm end-effector preparation path and drill preparation path. When the real-time data acquisition and feedback control system identifies the current location as a high-hardness, high-brittle restorative material and the path generated by the planning system shows a large amount of material removed per unit length at this location, the controller of the real-time data acquisition and feedback control system preferably increases the dental handpiece rotation speed, reduces the robotic arm feed speed, decreases the single-step infeed and attitude change rate to reduce the impact load of a single abrasive grain and mitigate the risk of edge chipping. When the real-time data acquisition and feedback control system identifies the dentin near the pulp region or the remaining tooth thickness as small, its controller preferably reduces the amount of material removed per unit time, limits the upper limit of normal contact force, increases the cooling weight, and reduces the continuous residence time to reduce the risk of thermal damage and overcutting.

[0035] Preferably, to improve the stability of material identification, the real-time data acquisition and feedback control system defines "hardness" as the equivalent hardness or equivalent machinability parameter obtained through offline calibration. It is not necessarily equivalent to the absolute value of laboratory microindentation hardness, but rather characterizes the comprehensive response of the material to grinding load under a given drill bit, a given cooling, and a given rotation speed window.

[0036] This invention incorporates both the biomechanical properties of the material and the planned amount of material removed at the path point into the control decision, enabling the robotic arm speed and the needle speed to be coordinated and adjusted under different materials, different remaining thicknesses, and different local removal requirements. This limits the actual processing load within the target range, achieving stable stress, reducing edge chipping and overcutting, controlling thermal damage, and improving overall preparation efficiency.

[0037] In some implementations, the real-time data acquisition and feedback control system acquires the drill bit preparation path planned by the planning system, and acquires the drill bit posture and movement direction at each drill bit preparation path point. The real-time data acquisition and feedback control system calculates the local material removal index for each drill bit preparation path point. The local material removal index includes the expected removal thickness, path step distance, contact width, remaining wall thickness, and constraint level of adjacent sensitive structures at that point. The real-time data acquisition and feedback control system combines the resultant force direction and magnitude data in the force data with the drill bit attitude and movement direction at the drill bit preparation path point to extract the direction and magnitude of the normal force and tangential force, as well as the short-term fluctuation characteristics of the force values ​​(normal force and tangential force), forming a material identification vector. Optionally, the short-term fluctuation characteristics of the force values ​​include their instantaneous rate of change, peak value, valley value, peak-valley difference, coefficient of variation, number of abrupt change points, etc. The real-time data acquisition and feedback control system generates a target load threshold based on the local material removal amount index, and also uses a hardness database of tooth tissue and restorative materials to identify the type of tooth tissue or restorative material of the structure being removed in real time based on the material identification vector. When the real-time load detected by the force sensor is higher than the target load threshold, the real-time data acquisition and feedback control system adjusts and reduces the feed speed of the robotic arm. When the aforementioned real-time load is lower than the first threshold, the feed speed of the robotic arm is increased. The first threshold is 40%-60% of the target load threshold, preferably 50%. When the real-time load continuously exceeds the target load threshold by N times for a first preset time and the material being ground is identified as a high-hardness material, the real-time data acquisition and feedback control system adjusts and increases the drill bit speed or switches to a smaller step size processing method, where N ≥ 1.3, preferably N = 1.3-1.8, more preferably 1.5, and the first preset time is 3-8 seconds, preferably 5 seconds. This application does not specifically limit the criteria for judging high-hardness materials; as long as there exists a feasible criterion that materials with a hardness higher than a second threshold are considered high-hardness materials, and materials with a hardness less than or equal to the second threshold are not considered high-hardness materials, it is acceptable.

[0038] Optionally, the real-time data acquisition and feedback control system can be based on the aforementioned material hardness estimate. Make a judgment: It is compared with the second threshold to determine if... If the value exceeds the second threshold, the tooth structure being removed is determined to be made of a high-hardness material. The value of the second threshold can be customized based on the actual situation.

[0039] Alternatively, a hardness database for tooth tissues and restorative materials may contain hardness data for the tooth tissue / restorative material and information on whether it is a high-hardness material. When the real-time data acquisition and feedback control system identifies the removed tooth structure as a specific tooth tissue / restorative material based on the above mechanism, it can directly retrieve information from the database regarding whether that type of tooth tissue / restorative material is a high-hardness material. In other words, the real-time data acquisition and feedback control system can identify whether the removed tooth structure is a high-hardness material by matching the removed tooth structure with a material in the database and by using the database's identifier for that material. The high-hardness material identifier in the database can be obtained through comparison of the material's hardness data in the database with a user-defined second threshold, manual identification, calibration, or system judgment.

[0040] When the real-time data acquisition and feedback control system performs short-time fluctuation analysis on the resultant force time series output by the mechanical sensor, or the normal force time series or tangential force time series obtained by coordinate transformation and direction decomposition, if it detects sudden changes in force peak value, sudden drops in force, or abnormal vibration characteristics, it determines that there is a risk of material boundary abrupt change, drill slippage, local voiding, or edge fracture of the restoration, and triggers the control of drill bit deceleration, retraction, re-identification of the tooth tissue or restoration material type of the removed structure, or suspension of drill bit rotation. Among them, sudden changes in force peak value refer to the local peak value that appears in the current sliding time window, which simultaneously meets the condition that the peak value amplitude exceeds the window average value by a preset multiple, and its rising slope exceeds the preset rising slope threshold. Sudden drops in force value refer to the current force value decreasing by more than a preset proportion relative to the previous moment or the window average value within a preset time, and its falling slope exceeds the preset falling slope threshold. Abnormal vibration includes, but is not limited to, vibration amplitude (peak-to-peak value, i.e., the difference between the peak value and the trough value) exceeding the preset threshold by 1.5 times, force vibration standard deviation (i.e., the square root of the average of the sum of the squares of the differences between the force values ​​at each sampling point and the average force value) exceeding the limit for more than 1 second.

[0041] In one possible implementation, the planning system acquires the patient's preoperative oral biometrics, feeds back the characteristic line data of the target tooth in the preoperative oral biometrics to manually adjust and correct the position of the characteristic line, and acquires the corrected characteristic line data, which includes gingival margin data and central sulcus characteristic line data.

[0042] The planning system provides corrected feature line data for manual selection of drill type and expected restorative material. Alternatively, the planning system automatically selects the drill type and expected restoration based on the corrected feature line data. The planning system has a planning database, through which it configures tooth preparation data based on the selected drill type and expected restorative material. The planning system communicates with the accessory system to obtain intraoral accessory data. Based on preoperative oral biological data, corrected feature line data, tooth preparation data, and intraoral accessory data, the planning system generates target tooth preparation data and an obstacle-avoiding drill preparation path plan for grinding the preparation. The planning system generates a motion plan for the robotic arm's end effector to match and implement the drill preparation path plan.

[0043] Optionally, preoperative oral biodata includes preoperative 3D morphological data of the target tooth. The planning system generates target tooth preparation data and drill preparation path plans based on the preoperative target tooth 3D morphological data and the expected postoperative restoration material. The target tooth preparation data includes virtual digital 3D model data of the target tooth preparation. The planning system provides visual feedback of a virtual 3D model of the target tooth preparation through an interactive interface 220. Users can manually adjust relevant parameters to modify the drill preparation path and / or the motion scheme of the robotic arm's end effector. The planning system also provides visual feedback of the adjusted drill preparation path and the expected effect of the drill grinding the target tooth along this path (target tooth preparation) through the interactive interface 220.

[0044] In one possible implementation, the planning database includes a database of restorative materials and appropriate parameters for corresponding tooth preparation amounts, and a database of commonly used tooth preparation drills. In this implementation, the planning system includes a user interface 220, a module for automatic feature line extraction and placement direction fitting, a database of restorative materials and appropriate parameters for corresponding tooth preparation amounts, a database of commonly used tooth preparation drills, a drill path generation and robotic arm end-effector path optimization module, a planned path visualization preview module, and a target tooth preparation automatic generation module. The entire planning system operation is completed through the user interface 220. Doctors can adjust the automatically extracted feature lines and placement direction based on experience through the interface; select restorative materials and suitable preparation drills from the database according to the patient's condition and wishes; the drill path generation and robotic arm end-effector path optimization module, the planned path visualization preview module, and the target tooth preparation automatic generation module automatically generate the preparation path and the target tooth preparation based on the above information. If the current ideal preparation effect is not satisfactory, the doctor can return to any step above through the user interface 220 to adjust the expected preparation effect. The initial drill preparation path generated by the planning system is determined by the morphology of the target tooth preparation body. The optimized robotic arm end effector preparation path, while maintaining the drill preparation path, is optimized and adjusted based on the intraoral working area after the tooth preparation protector is in place to achieve zero intraoral collisions throughout the procedure. The target tooth preparation body can be used to visualize the expected results preoperatively, facilitating communication with the patient. Furthermore, it provides the gold standard for postoperative evaluation.

[0045] In one possible implementation, the real-time data acquisition and feedback control system establishes a limited working area for the robotic arm's end effector based on intraoral accessory data and preoperative oral biological data. During tooth preparation, the end effector is always restricted to the working area so that the actuator of the system can avoid obstacles.

[0046] In this application, obstacle avoidance refers to the process during the procedure where objects in the non-target area (the area of ​​the target tooth to be removed) are used as obstacles to be avoided. The actuator of the system avoids these obstacles, ensuring that there is no contact or collision with them during the procedure. In the context of the tooth preparation system in this application, the "procedure" in "preoperative, intraoperative, and postoperative" refers to the treatment process of tooth preparation performed by the actuator.

[0047] Optionally, to address the issue of limited working area at the end of the robotic arm due to the narrow intraoral environment and the placement of the tooth spare protector, the planning system optimizes the posture of the end of the robotic arm, plans a preliminary path for the end of the robotic arm after obstacle avoidance, and generates a motion scheme for the end of the robotic arm to achieve this path.

[0048] In one possible implementation, the real-time data acquisition and feedback control system monitors the position of the marked part on the robotic arm in real time through a vision tracking mechanism, thereby indirectly obtaining the real-time angles of each joint of the robotic arm 400 and the real-time movement speed of the end effector.

[0049] In one possible implementation, during the target tooth registration and calibration process, the calibration system recalibrates the probe tip using a visual tracking mechanism, a marking part on the probe 600, and another marking part at a known location outside the robotic arm to calibrate the probe tip. After calibration, the probe tip is used to contact the registration point on the tooth protector inside the mouth, and the location of the registration point is identified based on the calibrated probe tip calibration information, thereby performing the target tooth registration and calibration.

[0050] In one possible implementation, the calibration system, also known as a registration system, consists of a binocular vision tracking system, a device with markers, and a calibration registration procedure. Specifically: The marking part is the marking point. Figure 2 The device for registration and calibration of the present invention includes a marker plate a (with marker point a) fixedly mounted on the end effector of a robotic arm, a mouthpiece marker plate b (with marker point b) stably fixed to a dental prosthesis, a marker plate c (with marker point c) for calibrating the position of the drill bit and probe tip, and a probe 600 with a marker point d at its tail for indicating arbitrary points using the probe tip. When the marker plates and probe 600 are in operation, all marker points must be within the field of view of the binocular vision system.

[0051] The calibration system controls the robotic arm 400 to perform pitch, yaw, and roll movements via the execution system. During the movement, it collects the correspondence between the robotic arm's end effector and the coordinate system of the robotic arm base in real time, and also collects the real-time data of the markings on the robotic arm (located at the end effector and moving synchronously with it, for example...). Figure 1 The multiple marker points formed by the reflective markers pasted at the end of the process a) correspond to the visual coordinate system, wherein the "correspondence" is preferably represented by a homogeneous transformation matrix: at the sampling time Obtain the pose of the robotic arm's end effector relative to the robotic arm's base coordinate system: And the pose of the robotic arm's end effector relative to the visual coordinate system: Since marker point a is rigidly connected to the end effector of the robotic arm, its relative pose The coordinates remain unchanged during calibration; simultaneously, there are fixed external parameters between the visual coordinate system and the robotic arm base coordinate system. Therefore, for any sampling time Satisfy the constraints: To eliminate Due to the influence of two different sampling times, Constructing relative motion: Then we can obtain the classical hand-eye calibration equation: Will and Decomposed into rotation and translation respectively , First, from the rotation equations Solve (in Right now (the rotating part), for example, the rotating part Convert to unit quaternion Establish linear homogeneous equations Stack multiple groups Then, singular value decomposition is applied to the constraints. Seek below and restore to obtain Subsequently in Given the given conditions, a system of linear equations is obtained from the translation equations: For multiple groups Stacking and solving using least squares yields the results. (in Right now (The translation part), thereby solving the positional relationship between the marked part on the robotic arm and the flange 410. In obtaining Afterwards, it can also be done by Calculate at each time point The accuracy is improved by taking a weighted average or further minimizing nonlinearity. This allows for the hand-eye calibration of the robotic arm 400.

[0052] During drill tip calibration, a marker plate c (used to calibrate the tip position) is mounted on the dental handpiece 420 at the end of the robotic arm, so that the marker point c on the marker plate c contacts the drill tip. At the same time, the spatial coordinates of the marker point a and c are visually acquired, and the relative positional relationship between the two is solved, thus obtaining the relative positional relationship between the marker point a and the drill tip.

[0053] The positions of the marker plate c and marker point c are known and remain unchanged. The probe tip touches marker point c, and the positions of marker points c and d are monitored visually to determine or calibrate the relative positional relationship between the probe tip and marker point d at the probe tail, completing the probe tip calibration or recalibrating its calibration information. After probe tip calibration, the position of marker point d can be monitored when the probe touches the registration hole. Based on the calibrated probe tip information (the relative positional relationship between marker point d and the probe tip), the real-time position information of the probe tip is obtained, thus clarifying the registration hole position touched by the probe tip. Target tooth registration is performed based on the position information of several registration holes. The probe tip calibration information can be calibrated as needed (e.g., after each touch) to prevent probe tip deformation from increasing errors during subsequent intraoral registration using the probe.

[0054] Intraoral registration is accomplished by sequentially contacting the calibrated probe tip with the registration hole designed on the tooth preparation protector, which is known to be in the position relative to the target tooth. At the same time, the vision system acquires the position information of the (oral) marker point b and the probe (tail marker point d). Intraoral registration enables the intelligent tooth preparation system to obtain the precise position of the patient's teeth under vision, so as to facilitate the execution of the tooth preparation planning path.

[0055] In one possible implementation, the actuator of the accessory system includes an accessory fabrication mechanism that manufactures intraoral accessories based on intraoral accessory data. For example, a tooth preparation protector, which covers the area adjacent to its virtual tooth structure location to provide retention, and extends wings through the vestibular sulcus and floor of the mouth to push aside buccal and lingual tissues to protect soft tissue and expand working space. The protector includes a personalized suction drain tube with an external suction device, a connection device for attaching a marker to the protector, and a personalized registration hole designed for calibrating the registration model position using a probe.

[0056] In one possible implementation, a prosthesis system is also included. The prosthesis system acquires the target tooth preparation data generated by the planning system, and also acquires the opposing tooth data of the target tooth from the preoperative oral physiological data. The prosthesis system determines the expected occlusal relationship between the prosthesis and the opposing tooth based on the opposing tooth data. The prosthesis system designs the prosthesis based on the target tooth preparation data and the expected occlusal relationship between the prosthesis and the opposing tooth, generating prosthesis data. The prosthesis system and the planning system share an interactive interface 220 and a 3D printer 100. The prosthesis system can visualize the 3D model of the prosthesis obtained from the data through the interactive interface 220, and manually adjust the prosthesis data to change the prosthesis structure. The prosthesis system uses the 3D printer 100 to fabricate the prosthesis based on the prosthesis data and the selected expected prosthesis material. Optionally, the prosthesis is fabricated before tooth preparation (operation). The prosthesis is worn for tooth restoration after tooth preparation (operation).

[0057] One possible implementation also includes a postoperative evaluation system. Postoperative evaluation is performed based on the target tooth preparation data and the actual tooth preparation data obtained from postoperative intraoral scanning, and an evaluation report is generated.

[0058] One possible implementation also includes an automatic sensing system and a manual stop system.

[0059] By accumulating numerous examples, we can obtain the parameter range for the safe and precise movement of the actuator, thus avoiding abnormal situations. For example, through a large number of examples, we can obtain the joint angle range for safe and precise movement (avoiding extreme angles that could cause the robotic arm to fail unexpectedly, lead to safety accidents, or shorten its service life), the acceleration and speed range of the robotic arm's end effector, the force data range of the force sensors, and the drill bit rotation speed range, etc.

[0060] If relevant parameters exceed safe limits, the automatic sensing system will control the execution system to immediately stop the movement of the robotic arm 400, shut down the drive motor of the dental handpiece 420, and report to the dentist. Alternatively, the dentist may identify a planning / execution problem based on their experience and immediately manually operate the manual stop system to halt the operation. If unforeseen circumstances necessitate interrupting preparation, the manual stop system can also be manually operated (e.g., by pressing the emergency stop button) to immediately stop the movement of the robotic arm 400, shut down the drive motor of the dental handpiece 420, and generate a report to ensure safety.

[0061] In one possible implementation, the visual tracking mechanism is a binocular visual tracking mechanism 210, which tracks the marker based on binocular visual recognition and monitors the position of the marker in real time.

[0062] One possible implementation also includes a pre-preparation dental inspection system.

[0063] The pre-operative dental preparation system is used to examine the patient's oral cavity and obtain preoperative oral physiological data. Specifically, before tooth preparation, the pre-operative dental preparation system uses an intraoral scanner to perform an intraoral scan to obtain information on the soft and hard tissues in the oral cavity as preoperative oral physiological data. The soft and hard tissue information includes target tooth data (including data for generating a 3D model of the target tooth), other tooth data (used to design the tooth preparation protector, design the tooth preparation protector retention, provide sufficient resistance, and prevent the tooth preparation protector from moving or falling off during the operation), and intraoral soft tissue data (used to design the tooth preparation protector and to plan the probe preparation path for obstacle avoidance).

[0064] Prepare the tooth structure according to the steps described above; The restoration is then obtained (either by acquiring restoration data from a restoration system and fabricating it based on that data, or by directly obtaining a restoration fabricated by that system before tooth preparation), or by other means. A trial fitting of the restoration is then performed on the prepared tooth. If the trial fitting is unsatisfactory, the restoration is adjusted in real time or the restoration data is readjusted based on feedback, and a new restoration is fabricated. Once the trial fitting is satisfactory, the restoration is permanently cemented, completing the tooth restoration.

[0065] In summary, compared with the prior art, the present invention has the following beneficial effects: 1. It avoids the problems of excessive grinding caused by shaking during manual preparation and non-direct vision conditions, making tooth preparation precise and minimally invasive, with good short-term and long-term prognosis.

[0066] 2. The obstacle avoidance planning and precise motion control of the execution mechanism of the execution system, together with the tooth preparation protector, can protect the surgical area, especially the area adjacent to the target tooth, soft and hard tissues, and buccal and lingual tissues, reducing the risk of accidents caused by the randomness and lack of restriction of manual operation.

[0067] 3. The real-time data acquisition and feedback control system collects and analyzes intraoperative information in real time, identifies the types of materials, and automatically adjusts and optimizes the preparation strategy to maximize preparation efficiency while ensuring the preparation effect and improve the level of intelligence in diagnosis and treatment.

[0068] 4. An ideal preparation body automatic generation postoperative evaluation system can accurately and quantitatively evaluate the preparation effect, including preparation accuracy, deflection error in each direction, local and overall abrasion amount, and accurately record the time taken for each step, which facilitates the collection and analysis of high-quality clinical data and provides experimental support for the theoretical verification of some vague and subjective clinical experiences in related fields.

[0069] 5. Precise tooth preparation makes it possible to fabricate restorations before surgery, changing the traditional treatment model, allowing the prepared tooth tissue to be protected in a timely manner, reducing pulp irritation, and reducing the occurrence of complications.

[0070] 6. Achieve a closed-loop digital process for the entire tooth preparation procedure, eliminating data gaps in manual operations.

[0071] To better illustrate the intelligent dental restoration system, the present invention provides the following embodiments.

[0072] Example 1 Figure 1 This is a schematic diagram illustrating tooth preparation using the intelligent tooth preparation system of Embodiment 1 provided by the present invention. Figure 1 The intelligent tooth preparation system provided in Example 1 performs tooth preparation, specifically including the following steps: S1: Use an intraoral scanning device to scan the patient's mouth and use a mandibular motion recorder to record the mouth opening and closing movements. If conditions are limited, the mouth opening can also be measured and recorded directly.

[0073] S2: Import the patient's oral scan data and preoperative oral physiological data such as mandibular movement data or mouth opening data into the planning system. The planning system automatically performs processes such as filling in cavities and removing isolated islands from the oral scan data, and automatically completes tooth segmentation.

[0074] S3: Select the target tooth position. The planning system automatically extracts feature lines, including the gingival margin line and the central sulcus line, and fits the direction of the insertion path. Check the curve and direction and adjust them as needed.

[0075] S4: Select the restorative material and drill bit. The planning system automatically selects the appropriate tooth preparation data based on guidelines and expert consensus. The selected tooth preparation data includes matching parameters such as convergence, occlusal surface removal, and axial surface removal. If there are special requirements, the above parameters can be adjusted arbitrarily.

[0076] S5: The planning system automatically generates the target tooth preparation body and drill bit preparation path. The user interface can preview the movement of the drill bit along the path and the 3D model of the target tooth preparation body that it is expected to grind.

[0077] S6: Import preoperative oral physiological data such as intraoral scanning data, mandibular movement data, or mouth opening data into the accessory system. The accessory system designs intraoral accessories such as tooth preparation protectors and occlusal blocks on the opposite side of the target tooth, taking into account the patient's intraoral condition and mouth opening. The intraoral accessories are designed by 3D printing.

[0078] S7: Import the designed tooth preparation protector and occlusal block data into the planning system. Based on the unique placement relationship between the intraoral accessory and the target dentition, the positional relationship of the maxillary and mandibular dentition after the accessory is placed in the patient's mouth is the positional relationship corresponding to the accessory design. Further, intraoral registration is completed through the registration hole / registration structure on the accessory, so that the relative positional relationship between the target dentition and the oral marker is determined, thereby obtaining the positional relationship of the maxillary and mandibular dentition after the accessory is placed. The working area of ​​the robotic arm's execution end is determined based on the positional relationship of the maxillary and mandibular dentition after the intraoral accessory is placed and the predicted buccal tissue to be opened by the wings. Since the wings are rigid structures and their outer surfaces are used to push aside the buccal soft tissue, the boundary of the opened buccal tissue can be formed by the outer surface of the wings and its outward expansion safety margin, without the need to set markers on the buccal soft tissue. The planning system uses the outer surface of the wings (and its safety margin) as the constraint boundary of the buccal tissue, combined with the real-time pose of the oral marker, to achieve real-time / quasi-real-time updates of the intraoral working area. The robotic arm automatically generates an end-effector path that avoids obstacles by combining the drill preparation path (motion trajectory). The user interface can preview the end-effector path and the simulated and predicted intraoral working area of ​​the patient.

[0079] S8: The restoration system automatically generates the restoration based on the target tooth preparation data and the expected occlusal relationship between the restoration and the opposing tooth, and the design can be adjusted based on experience. The appropriate fabrication method is selected based on the restorative material to manufacture the restoration.

[0080] S9: Place the printed intraoral fittings in the patient's mouth, install the mouthpiece marking plate b to securely connect it to the tooth preparation protector, and connect the suction device to the pre-drilled suction tube opening on the tooth preparation protector or occlusal block.

[0081] S10: The execution system, calibration system, and real-time data acquisition and feedback control system are activated. Hand-eye calibration of the robotic arm 400, drill tip calibration, probe tip calibration and calibration, and intraoral registration are performed. The hand-eye calibration results, tip offset parameters, and intraoral registration results are written into the real-time data acquisition and feedback control system as initial coordinates and tool parameters. Subsequently, the execution system performs tooth preparation. During tooth preparation, the real-time data acquisition and feedback control system automatically runs and performs real-time positioning (based on optical / visual tracking to acquire pose changes of the marker plate and oral marker plate, and combined with the robotic arm joint angles to calculate the end effector pose). Motion control optimization (of the robotic arm 400 and dental handpiece 420) is performed, and the end effector speed / feed strategy is adjusted or limited online based on real-time positioning deviations. The automatic sensing system monitors abnormal behavior throughout the process to prevent accidents.

[0082] S11: After tooth preparation, observe the patient for any discomfort and check for any abnormalities in the mouth. Scan the target tooth and adjacent teeth with an intraoral scanner, upload the scan data to the postoperative evaluation system, and the system will automatically generate a report after registration.

[0083] S12: The restoration is tried on the prepared tooth. If the trial fitting is satisfactory, it is permanently cemented, completing the restorative treatment.

[0084] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the methods and techniques disclosed above without departing from the scope of the present invention to create equivalent embodiments. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. An intelligent tooth preparation system, characterized in that, include: The system includes a component system, a planning system, a calibration system, an execution system, and a real-time data acquisition and feedback control system. The accessory system acquires the patient's preoperative oral biological data, generates intraoral accessory data for tooth preparation based on this data, and manufactures intraoral accessories for tooth preparation according to the intraoral accessory data. The intraoral accessory includes a tooth preparation protector with a marker installed. Its intraoral accessory data includes virtual tooth structure, registration point, and position information of the marker on the tooth preparation protector. The execution system includes a robotic arm and a dental handpiece and drill bit mounted on its execution end. The planning system acquires the patient's preoperative oral biological data and intraoral accessory data, generates target tooth preparation data based on this data, and plans the drill bit preparation path for grinding the preparation. The planning system also plans the preparation path of the robotic arm execution end and generates the corresponding robotic arm execution end motion scheme to match and implement the drill bit preparation path scheme. The calibration system and the real-time data acquisition and feedback control system are configured to share an execution mechanism for acquiring information. The execution mechanism for acquiring information includes a visual tracking mechanism, which can identify and track the marker to obtain the real-time position information of the marker. The calibration system performs hand-eye calibration of the robotic arm and drill tip calibration through the visual tracking mechanism, the marker on the robotic arm, and another marker at a known position outside the robotic arm. The calibration system performs probe tip calibration through the visual tracking mechanism, the marker on the probe, and another marker at a known position outside the robotic arm. The patient wears and retains the tooth preparation protector. The position of the target tooth can be obtained according to the position of the virtual tooth structure. The probe touches the registration point on the tooth preparation protector inside the mouth. The calibration system performs target tooth registration calibration through the visual tracking mechanism, probe tip calibration information, virtual tooth structure, registration point, and position information of the marker on the tooth preparation protector. Based on the calibration results of the calibration system, the execution system controls its robotic arm to execute the motion scheme of the robotic arm's end effector to perform tooth preparation. During tooth preparation, the motion scheme of the execution system's actuator is subject to real-time control by the real-time data acquisition and feedback control system. The real-time data acquisition and feedback control system monitors the position of the markers on the tooth preparation protector in real time through a visual tracking mechanism, calculates the real-time position of the target tooth based on its position changes and intraoral accessory data, and adjusts the motion scheme of the robotic arm's end effector in real time to achieve real-time adjustment of the drill bit position, compensating for and correcting errors caused by changes in the target tooth position due to the patient's micro-movements during the process.

2. The intelligent tooth preparation system according to claim 1, characterized in that, The information acquisition mechanism also includes a force sensor installed at the end of the robotic arm. The real-time data acquisition and feedback control system is equipped with a database of tooth tissue and restorative material hardness. The real-time data acquisition and feedback control system measures the force data of the structure being ground on the drill bit in real time through the force sensor, analyzes the hardness of the structure being ground based on the force data, identifies the type of tooth tissue or restorative material of the structure being ground in real time using its database, and adjusts the dental handpiece rotation speed and robotic arm movement speed in real time according to the real-time information of this type.

3. The intelligent tooth preparation system according to claim 1, characterized in that, The information acquisition mechanism also includes a force sensor installed at the end of the robotic arm to measure the force data of the grinding structure on the drill bit in real time. The real-time data acquisition and feedback control system acquires the drill bit preparation path planned by the planning system, and acquires the drill bit posture and movement direction at each drill bit preparation path point. The real-time data acquisition and feedback control system calculates the local material removal index for each drill bit preparation path point. The local material removal index includes the expected removal thickness, path step distance, contact width, remaining wall thickness, and constraint level of adjacent sensitive structures at that point. The real-time data acquisition and feedback control system combines the resultant force direction and magnitude data in the force data with the drill bit attitude and movement direction at the drill bit preparation path point to extract the direction, magnitude, and force value fluctuation characteristics of the normal force and tangential force, forming a material identification vector. The real-time data acquisition and feedback control system generates a target load threshold based on the local material removal amount index, and also uses the tooth tissue and restorative material hardness database to identify the type of tooth tissue or restorative material of the removed structure in real time based on the material identification vector. When the real-time load detected by the force sensor is higher than the target load threshold, the real-time data acquisition and feedback control system adjusts and reduces the feed speed of the robotic arm; when the real-time load is lower than the first threshold, the feed speed of the robotic arm is increased, where the first threshold is 40%-60% of the target load threshold; when the real-time load is continuously higher than the target load threshold by N times and the tooth structure to be ground is identified as a high-hardness material, the real-time data acquisition and feedback control system adjusts and increases the drill bit speed or switches to a smaller step size processing, where N≥1.

3.

4. The intelligent tooth preparation system according to claim 1, characterized in that, The planning system acquires the patient's preoperative oral biological data. The planning system has a planning database to configure tooth preparation data according to the selected expected restorative material. The planning system communicates with the accessory system to obtain intraoral accessory data. The planning system generates target tooth preparation data and obstacle avoidance drill preparation path scheme for grinding the preparation based on the preoperative oral biological data, tooth preparation data and intraoral accessory data. The planning system generates motion scheme for the robotic arm end effector to match and implement the drill preparation path scheme.

5. The intelligent tooth preparation system according to claim 1, characterized in that, The planning system acquires the patient's preoperative oral biometric data, feeds back the characteristic line data of the target tooth in the preoperative oral biometric data to manually adjust and correct the position of the characteristic line, acquires the corrected characteristic line data, and uses it to generate target tooth preparation data and drill preparation path scheme for grinding the preparation. The planning system generates motion scheme of the robotic arm execution end to match and implement the drill preparation path scheme. The characteristic line data includes gingival margin data and central sulcus characteristic line data.

6. The intelligent tooth preparation system according to claim 1, characterized in that, The preoperative oral biodata includes oral scan data, as well as at least one of mandibular movement data and mouth opening data.

7. The intelligent tooth preparation system according to claim 1, characterized in that, The preoperative oral biodata includes preoperative 3D morphological data of the target tooth. The planning system generates the target tooth preparation data and the drill preparation path plan based on the preoperative 3D morphological data of the target tooth and the expected restoration material after surgery.

8. The intelligent tooth preparation system according to claim 1, characterized in that, The real-time data acquisition and feedback control system establishes the limited working area of ​​the robotic arm's end effector based on intraoral accessory data and preoperative oral biological data. During tooth preparation, the end effector is always restricted to the working area so that the actuator of the system can avoid obstacles.

9. The intelligent tooth preparation system according to claim 1, characterized in that, The real-time data acquisition and feedback control system monitors the position of the marked part on the robotic arm in real time through a vision tracking mechanism, and indirectly obtains the real-time angle of each joint of the robotic arm and the real-time movement speed of the end effector.

10. The intelligent tooth preparation system according to claim 1, characterized in that, During the target tooth registration and calibration process, the calibration system recalibrates the probe tip using a visual tracking mechanism, a marker on the probe, and another marker at a known location outside the robotic arm. After calibration, the probe is used to contact the registration point on the tooth protector inside the mouth. The location of the registration point is identified based on the calibration information of the probe tip, thereby performing the target tooth registration and calibration.

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