Exoskeleton robot system for tooth extraction surgery and human-machine interaction method thereof

Abstract

The application discloses an exoskeleton robot system for tooth extraction operation and a man-machine interaction method thereof, and relates to the technical field of tooth extraction operation robots. The exoskeleton robot system comprises a wearable exoskeleton body, an intelligent end effector module, a sensing module, a control module and a multi-modal man-machine interaction interface module. The control module is connected with the wearable exoskeleton body, the intelligent end effector module, the sensing module and the multi-modal man-machine interaction interface module respectively, is used for receiving and processing various types of collected information, and outputs control instructions to each module. The multi-modal man-machine interaction interface module is connected with the control module, and is used for realizing information interaction and operation instruction input of a doctor and the system. The application realizes deep fusion of the doctor's manual operation skill and the precise auxiliary ability of the robot, and improves the precision, safety and operation convenience of the tooth extraction operation.

Description

Technical Field

[0001] This invention relates to the field of surgical robot technology for tooth extraction, and more specifically to an exoskeleton robot system for tooth extraction and its human-computer interaction method. Background Technology

[0002] Tooth extraction is a common clinical procedure in dentistry. The success of the surgery highly depends on the dentist's clinical experience, hand stability, and precise force application. Traditional manual tooth extraction has several technical limitations: Firstly, the force applied by the dentist cannot be precisely quantified, easily leading to excessive force causing tooth breakage or damage to adjacent teeth, or insufficient force resulting in low surgical efficiency. Furthermore, prolonged procedures can cause muscle fatigue in the dentist's hands, further reducing operational precision. Secondly, for complex cases such as impacted teeth, manual extraction presents limited visibility and a confined operating space, significantly increasing surgical risks.

[0003] To address the aforementioned issues, existing technologies have proposed several robotic solutions for oral surgery. However, these solutions are mostly large, fixed robotic arm structures, which have significant limitations in application: First, the fixed robotic arm has a fixed operating space, making it difficult to adapt to different patients' oral structures and surgical positions, and thus cannot be flexibly applied in conventional dental clinics; second, the robotic arm has poor coordination with the surgeon's limb movements, failing to respond to the surgeon's operational intentions in real time, and is prone to operational delays; third, there is a lack of intuitive force feedback mechanisms, making it difficult for surgeons to accurately perceive the force between the instrument and the teeth, hindering the achievement of precise operations.

[0004] Exoskeleton robots, as wearable intelligent devices, have shown great potential for human-machine collaborative work in fields such as rehabilitation medicine and industrial assistance. However, their application in minimally invasive surgeries like oral surgery, which require high precision and flexibility, still faces significant technical challenges. The core difficulty lies in designing an efficient, natural, and safe human-machine interaction mechanism that enables the exoskeleton robot to accurately capture and amplify the surgeon's subtle operational intentions, perceive the mechanical information of the surgical area in real time, and form a closed-loop feedback loop, while also ensuring the flexibility of the surgical procedure.

[0005] Therefore, proposing an exoskeleton robot system for tooth extraction surgery and its human-computer interaction method to overcome the difficulties of existing technologies is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0006] In view of this, the present invention provides an exoskeleton robot system for tooth extraction surgery and its human-computer interaction method, which realizes a deep integration of the doctor's manual operation skills and the robot's precise assistance capabilities, thereby improving the accuracy, safety and ease of operation of tooth extraction surgery.

[0007] To achieve the above objectives, the present invention provides the following technical solution: An exoskeleton robot system for tooth extraction surgery includes: a wearable exoskeleton body, an intelligent end effector module, a sensing module, a control module, and a multimodal human-machine interface module; The intelligent end effector module can be detachably connected to the operating end of the wearable exoskeleton body to hold dental extraction instruments and collect mechanical and visual information of the surgical area. The sensing module is located at the joints of the wearable exoskeleton and on the intelligent end effector module, and is used to collect the doctor's operational intention information and the sensing information of the surgical area. The control module is connected to the wearable exoskeleton body, the intelligent end effector module, the sensing module, and the multimodal human-machine interface module, respectively, and is used to receive and process various types of collected information and output control commands to each module. The multimodal human-computer interaction interface module is connected to the control module to enable information exchange and operation command input between the doctor and the system.

[0008] Optionally, the intelligent end effector module includes an intelligent clamping base, a multi-dimensional force / torque sensor, a miniature vision sensor, and a quick-connect interface; A quick-connect interface is located at one end of the smart clamping base and is adapted to connect with the operating end of the wearable exoskeleton body. The other end of the intelligent clamping base is the instrument clamping end, used to clamp the sterilized tooth extraction instruments; A multi-dimensional force / torque sensor is embedded in the instrument clamping end of the intelligent clamping base to collect three-dimensional force and torque information between the extraction instrument and the tooth; A miniature vision sensor is mounted on the side wall of the smart clamping base, with the acquisition end facing the surgical area, to acquire local image information of the surgical field; Both the multi-dimensional force / torque sensor and the miniature vision sensor are connected to the control module.

[0009] Optionally, the sensing module includes a joint sensing unit and an end-effector sensing unit; The joint sensing unit includes encoders and inertial measurement units installed at each joint of the wearable exoskeleton, used to collect the joint's motion angle, angular velocity, and the tremor frequency of the doctor's wrist and fingers in real time, and to calculate the doctor's subtle movement intentions. The end-effector sensing unit consists of a multi-dimensional force / torque sensor and a miniature vision sensor on the intelligent end-effector module, serving as an extension of the sensing module's data acquisition capabilities; the joint sensing unit is connected to the control module.

[0010] Optionally, the wearable exoskeleton body includes a hand exoskeleton, a wrist exoskeleton, a forearm exoskeleton, and connecting components; The hand exoskeleton, wrist exoskeleton, and forearm exoskeleton are sequentially hinged together by connecting components, and each hinge is equipped with a joint sensing unit of a joint drive component and a sensing module. The free end of the hand exoskeleton is the operating end of the wearable exoskeleton body and is connected to the intelligent end effector module; the joint drive is connected to the control module and is used to receive control commands to drive the movement of each joint.

[0011] Optionally, the multimodal human-computer interaction interface module includes an AR visual interaction unit, a voice command unit, and a foot pedal command unit; The AR visual interaction unit includes a head-mounted display or surgical microscope integrated interface, which is connected to the control module to receive the processing information from the control module and overlay virtual information on the real surgical field. The voice command unit includes a voice acquisition unit and a voice recognition module. The voice acquisition unit is used to collect the doctor's voice commands, and the voice recognition module is connected to the control module to convert the voice commands into electrical signals and transmit them to the control module. The foot pedal command unit includes a foot switch and a mode switching module. The foot switch is connected to the mode switching module, and the mode switching module is connected to the control module to achieve contactless switching of the system operation mode.

[0012] Optionally, the virtual information superimposed on the AR visual interaction unit includes force direction guidance, real-time force vector magnitude, and preset tooth extraction path; the system operation modes include free guidance mode, path following mode, and tremor suppression mode.

[0013] Optionally, the control module includes a signal processing unit, a coordination control unit, and a feedback control unit; The signal processing unit is used to filter, amplify, and perform analog-to-digital conversion on the electrical signals acquired by the sensing module and the intelligent end effector module; The collaborative control unit has built-in intention calculation algorithm and force perception enhancement algorithm to calculate the doctor's operation intention, proportionally amplify the effective operation force and filter out physiological high-frequency tremors of the hand; The feedback control unit incorporates an adaptive impedance algorithm and an alert triggering algorithm, which are used to dynamically adjust the virtual impedance of each joint of the wearable exoskeleton based on the surgical area information and trigger tactile alerts.

[0014] Optionally, both the hand exoskeleton and wrist exoskeleton of the wearable exoskeleton body are equipped with tactile vibration units. The tactile vibration units are connected to the feedback control unit, which triggers the tactile vibration units to issue vibration warnings based on the tooth loosening signal or the force signal of the adjacent tooth.

[0015] A human-computer interaction method for an exoskeleton robot used in tooth extraction surgery, comprising the following steps, executing an exoskeleton robot system for tooth extraction surgery as described above: S1. The sterilized standard tooth extraction instrument is clamped at the instrument clamping end of the intelligent end effector module. The doctor wears the wearable exoskeleton and sets the surgical safety threshold, the operating force amplification ratio and the initial operation mode of the system through the multimodal human-computer interaction interface module. S2. The joint sensing unit of the sensing module collects the movement information of the doctor's wrist and fingers in real time and transmits it to the collaborative control unit of the control module to calculate the doctor's operating intention and tremor frequency. S3, the collaborative control unit outputs control commands to the joint drive components of the wearable exoskeleton body according to the operation intention, drives the movement of each joint, and at the same time amplifies the effective operating force applied by the doctor by 2 times through the force enhancement algorithm, filters out physiological high-frequency vibrations, and controls the tooth extraction instruments to perform operation actions. S4. The intelligent end effector module collects three-dimensional force and torque information and surgical field image information between the instrument and the teeth in real time, and transmits them to the signal processing unit of the control module for processing. S5. The feedback control unit of the control module dynamically adjusts the virtual impedance of each joint of the wearable exoskeleton body according to the processed surgical area information through an adaptive impedance algorithm. If a loose tooth is detected or the force on an adjacent tooth exceeds the safety threshold, the reverse resistance of the corresponding joint is immediately increased, and the tactile vibration unit is triggered to issue a vibration warning. S6. The control module transmits surgical area information and system operation information to the multimodal human-computer interaction interface module. The AR visual interaction unit overlays virtual information on the surgical field. Doctors can switch the system operation mode in real time through the voice command unit or foot command unit to achieve closed-loop operation without leaving the instrument. S7. After the tooth extraction is completed, the doctor issues a stop command through the multimodal human-computer interaction interface module. The control module controls the wearable exoskeleton to stop moving, releases the intelligent end effector module from the tooth extraction instrument, and completes the surgery.

[0016] As can be seen from the above technical solution, compared with the prior art, the present invention discloses an exoskeleton robot system for tooth extraction surgery and its human-computer interaction method, the beneficial effects of which are: 1) The intelligent end effector module adopts a modular and quick-replacement design, which is compatible with various sterilized standard tooth extraction instruments, meets the sterility requirements of surgery and the instrument needs of different surgical scenarios. At the same time, the integrated multi-dimensional force / torque sensor and miniature vision sensor realize the real-time acquisition of mechanical and visual information of the surgical area, providing data support for precise control. 2) Through the coordinated operation of the sensing module and the control module, the doctor's operational intention is accurately calculated and the force sensation is enhanced. This not only amplifies the effective operating force to reduce the doctor's physical burden, but also filters out physiological high-frequency tremors in the hand, ensuring the smooth and stable movement of the instrument end, and improving the accuracy of the operation. 3) The adaptive impedance feedback mechanism can dynamically adjust the virtual impedance of the exoskeleton joint according to the real-time information of the surgical area. When tooth loosening or adjacent tooth stress is detected, the reverse resistance is increased in time and tactile vibration warning is triggered to form force guidance, effectively preventing overload operation and misoperation, and improving the safety of the operation. 4) The multimodal human-computer interaction interface module realizes multi-dimensional information interaction through AR visual overlay, voice commands, and foot pedal commands. Doctors can intuitively obtain virtual information related to the surgery and switch modes without taking their hands off the instruments, ensuring the smoothness of the surgical operation and improving the naturalness and convenience of human-computer interaction. 5) The wearable exoskeleton adopts a lightweight hinge design, which is adapted to the movement trajectory of the human arm. It has flexible operating space and can be flexibly applied in conventional dental clinics. It solves the problems of limited operating space and poor coordination of existing fixed robotic arms and has good clinical application prospects. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0018] Figure 1 This invention provides a system structure diagram of an exoskeleton robot for tooth extraction surgery; Figure 2 A flowchart of a human-computer interaction method for an exoskeleton robot used in tooth extraction surgery provided by the present invention; Figure 3 This is a schematic diagram of the structure of the wearable exoskeleton body provided by the present invention. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] See Figure 1 As shown, the present invention discloses an exoskeleton robot system for tooth extraction surgery, including: a wearable exoskeleton body, an intelligent end effector module, a sensing module, a control module, and a multimodal human-computer interaction interface module; The intelligent end effector module can be detachably connected to the operating end of the wearable exoskeleton body to hold dental extraction instruments and collect mechanical and visual information of the surgical area. The sensing module is located at the joints of the wearable exoskeleton and on the intelligent end effector module, and is used to collect the doctor's operational intention information and the sensing information of the surgical area. The control module is connected to the wearable exoskeleton body, the intelligent end effector module, the sensing module, and the multimodal human-machine interface module, respectively, and is used to receive and process various types of collected information and output control commands to each module. The multimodal human-computer interaction interface module is connected to the control module to enable information exchange and operation command input between the doctor and the system.

[0021] Furthermore, the intelligent end effector module includes an intelligent clamping base, a multi-dimensional force / torque sensor, a miniature vision sensor, and a quick-connect interface; A quick-connect interface is located at one end of the smart clamping base and is adapted to connect with the operating end of the wearable exoskeleton body. The other end of the intelligent clamping base is the instrument clamping end, used to clamp the sterilized tooth extraction instruments; A multi-dimensional force / torque sensor is embedded in the instrument clamping end of the intelligent clamping base to collect three-dimensional force and torque information between the extraction instrument and the tooth; A miniature vision sensor is mounted on the side wall of the smart clamping base, with the acquisition end facing the surgical area, to acquire local image information of the surgical field; Both the multi-dimensional force / torque sensor and the miniature vision sensor are connected to the control module.

[0022] Furthermore, the sensing module includes a joint sensing unit and an end-effector sensing unit; The joint sensing unit includes encoders and inertial measurement units installed at each joint of the wearable exoskeleton, used to collect the joint's motion angle, angular velocity, and the tremor frequency of the doctor's wrist and fingers in real time, and to calculate the doctor's subtle movement intentions. The end-effector sensing unit consists of a multi-dimensional force / torque sensor and a miniature vision sensor on the intelligent end-effector module, serving as an extension of the sensing module's data acquisition capabilities; the joint sensing unit is connected to the control module.

[0023] Further, see Figure 3 As shown, the wearable exoskeleton body includes a hand exoskeleton, a wrist exoskeleton, a forearm exoskeleton, and connecting components; The hand exoskeleton, wrist exoskeleton, and forearm exoskeleton are sequentially hinged together by connecting components, and each hinge is equipped with a joint sensing unit of a joint drive component and a sensing module. The free end of the hand exoskeleton is the operating end of the wearable exoskeleton body and is connected to the intelligent end effector module; the joint drive is connected to the control module and is used to receive control commands to drive the movement of each joint.

[0024] Furthermore, the multimodal human-computer interaction interface module includes an AR visual interaction unit, a voice command unit, and a foot pedal command unit; The AR visual interaction unit includes a head-mounted display or surgical microscope integrated interface, which is connected to the control module to receive the processing information from the control module and overlay virtual information on the real surgical field. The voice command unit includes a voice acquisition unit and a voice recognition module. The voice acquisition unit is used to collect the doctor's voice commands, and the voice recognition module is connected to the control module to convert the voice commands into electrical signals and transmit them to the control module. The foot pedal command unit includes a foot switch and a mode switching module. The foot switch is connected to the mode switching module, and the mode switching module is connected to the control module to achieve contactless switching of the system operation mode.

[0025] Furthermore, the virtual information superimposed on the AR visual interaction unit includes force direction guidance, real-time force vector magnitude, and preset tooth extraction path; the system operation modes include free guidance mode, path following mode, and tremor suppression mode.

[0026] Furthermore, the control module includes a signal processing unit, a coordination control unit, and a feedback control unit; The signal processing unit is used to filter, amplify, and perform analog-to-digital conversion on the electrical signals acquired by the sensing module and the intelligent end effector module; The collaborative control unit has built-in intention calculation algorithm and force perception enhancement algorithm to calculate the doctor's operation intention, proportionally amplify the effective operation force and filter out physiological high-frequency tremors of the hand; The feedback control unit incorporates an adaptive impedance algorithm and an alert triggering algorithm, which are used to dynamically adjust the virtual impedance of each joint of the wearable exoskeleton based on the surgical area information and trigger tactile alerts.

[0027] Specifically, the intent calculation algorithm: based on the joint angle, angular velocity, and acceleration signals collected by the encoder and inertial measurement unit, it calculates the direction, speed, and operational intent of the doctor's wrist / finger movements in real time, distinguishes between active operations and unintentional shaking, and outputs stable motion commands.

[0028] Force enhancement algorithm: Within a safe threshold, the effective operating force applied by the doctor is proportionally amplified while filtering out physiological high-frequency tremors of 8-15Hz, making the operation less strenuous and the instrument end more stable.

[0029] Adaptive impedance algorithm: Based on the end force / torque and visual information, the virtual impedance of each joint of the exoskeleton is dynamically adjusted; the greater the force, the greater the impedance, realizing flexible constraint and force control stability, protecting teeth and adjacent teeth.

[0030] Warning triggering algorithm: It presets the force / torque safety threshold, monitors dangerous conditions such as loose teeth, force on adjacent teeth, and overload in real time, and immediately outputs a signal once triggered to drive the tactile vibration unit to issue an warning and remind the doctor to adjust the operation.

[0031] Furthermore, both the hand and wrist exoskeletons of the wearable exoskeleton are equipped with tactile vibration units. These tactile vibration units are connected to a feedback control unit, which triggers the tactile vibration units to issue vibration warnings based on signals of loose teeth or force on adjacent teeth.

[0032] and Figure 1 Corresponding to the aforementioned system, this embodiment of the invention also discloses a human-computer interaction method for an exoskeleton robot used in tooth extraction surgery, for use in... Figure 1 For the specific implementation of the system, please refer to the flowchart. Figure 2 As shown, it includes the following steps: S1. The sterilized standard tooth extraction instrument is clamped at the instrument clamping end of the intelligent end effector module. The doctor wears the wearable exoskeleton and sets the surgical safety threshold, the operating force amplification ratio and the initial operation mode of the system through the multimodal human-computer interaction interface module. S2. The joint sensing unit of the sensing module collects the movement information of the doctor's wrist and fingers in real time and transmits it to the collaborative control unit of the control module to calculate the doctor's operating intention and tremor frequency. S3, the collaborative control unit outputs control commands to the joint drive components of the wearable exoskeleton body according to the operation intention, drives the movement of each joint, and at the same time amplifies the effective operating force applied by the doctor by 2 times through the force enhancement algorithm, filters out physiological high-frequency vibrations, and controls the tooth extraction instruments to perform operation actions. S4. The intelligent end effector module collects three-dimensional force and torque information and surgical field image information between the instrument and the teeth in real time, and transmits them to the signal processing unit of the control module for processing. S5. The feedback control unit of the control module dynamically adjusts the virtual impedance of each joint of the wearable exoskeleton body according to the processed surgical area information through an adaptive impedance algorithm. If a loose tooth is detected or the force on an adjacent tooth exceeds the safety threshold, the reverse resistance of the corresponding joint is immediately increased, and the tactile vibration unit is triggered to issue a vibration warning. S6. The control module transmits surgical area information and system operation information to the multimodal human-computer interaction interface module. The AR visual interaction unit overlays virtual information on the surgical field. Doctors can switch the system operation mode in real time through the voice command unit or foot command unit to achieve closed-loop operation without leaving the instrument. S7. After the tooth extraction is completed, the doctor issues a stop command through the multimodal human-computer interaction interface module. The control module controls the wearable exoskeleton to stop moving, releases the intelligent end effector module from the tooth extraction instrument, and completes the surgery.

[0033] In a specific embodiment: This embodiment provides an exoskeleton robot system for tooth extraction surgery, including a wearable exoskeleton body, an intelligent end effector module, a sensing module, a control module, and a multimodal human-machine interface module. The wearable exoskeleton body is made of lightweight carbon fiber and includes a hand exoskeleton, a wrist exoskeleton, a forearm exoskeleton, and stainless steel hinge components. The hand exoskeleton, wrist exoskeleton, and forearm exoskeleton are sequentially hinged by the hinge components, and servo motors are set at each hinge as joint drives. The free end of the hand exoskeleton is the operating end and is equipped with standardized slots. Silicone cushioning pads are attached to the inner sides of the wrist exoskeleton and hand exoskeleton, and each is equipped with two miniature eccentric motors as tactile vibration units. The silicone cushioning pads improve wearing comfort, and the tactile vibration units are used to emit vibration warnings.

[0034] The intelligent end effector module includes an intelligent clamping base, a six-dimensional force / torque sensor, a miniature high-definition CMOS vision sensor, and a plastic quick-connect buckle. The quick-connect buckle is compatible with the standardized slot of the hand exoskeleton operating end, enabling quick assembly and disassembly of the intelligent end effector module and the wearable exoskeleton body. The instrument clamping end of the intelligent clamping base is equipped with a pneumatic gripper with adjustable clamping force, used to clamp standard extraction instruments such as sterilized extraction forceps and dental elevators. The six-dimensional force / torque sensor is embedded in the clamping end of the pneumatic gripper, with a sampling frequency of 100Hz, used to collect three-dimensional force and torque information between the instrument and the tooth. The miniature high-definition CMOS vision sensor is located on the side wall of the intelligent clamping base, with an anti-fog transparent protective cover at the acquisition end, and a acquisition frequency of 30 frames / second, used to collect local image information of the surgical field. Both the six-dimensional force / torque sensor and the miniature vision sensor are connected to the control module via shielded wires.

[0035] The sensing module includes a joint sensing unit and an end-effector sensing unit. The joint sensing unit includes encoders and MEMS inertial measurement units located at each hinge. The encoders have a resolution of 1024 lines and are used to collect the joint's motion angle and angular velocity. The MEMS inertial measurement units are used to collect the acceleration and tremor frequency of the doctor's wrist and fingers. The two are combined and the intention calculation algorithm of the control module is used to calculate the doctor's subtle motion intentions. The end-effector sensing unit consists of a six-dimensional force / torque sensor and a miniature high-definition CMOS vision sensor on the intelligent end effector module. As an extension of the sensing module, it enables precise perception of the surgical area. The joint sensing unit is connected to the control module via a shielded wire.

[0036] The control module uses an embedded industrial computer as the core processing unit, including a signal processing unit, a collaborative control unit, and a feedback control unit. The signal processing unit employs integrated operational amplifier circuits and AD conversion chips to filter, amplify, and convert analog electrical signals acquired by the sensing module and the intelligent end effector module. The collaborative control unit incorporates an intent calculation algorithm based on Kalman filtering and a force enhancement algorithm based on PID control. The intent calculation algorithm calculates the doctor's operational intent based on the information acquired by the joint sensing unit, while the force enhancement algorithm amplifies the effective operational force applied by the doctor by a factor of 1.2-3, while simultaneously filtering out 8-15Hz physiological high frequencies in the hand. The feedback control unit incorporates an adaptive impedance algorithm based on fuzzy control and a threshold-triggered warning algorithm. The adaptive impedance algorithm dynamically adjusts the virtual impedance of each joint of the wearable exoskeleton body according to the mechanical and visual information of the surgical area. The virtual impedance adjustment range is positively correlated with the reaction force received by the instrument. When the warning algorithm detects a loose tooth signal or the force on an adjacent tooth exceeds a preset safety threshold, it immediately triggers the tactile vibration unit to emit a vibration warning of 200-300Hz. The control module is connected to the joint drive component, intelligent end effector module, sensing module, and multimodal human-machine interface module of the wearable exoskeleton body via an RS485 bus.

[0037] The multimodal human-computer interaction interface module includes an AR visual interaction unit, a voice command unit, and a foot pedal command unit. The AR visual interaction unit includes a lightweight head-mounted AR display and an image fusion module. The image fusion module fuses the surgical information processed by the control module with the surgical field images acquired by the miniature visual sensor, and overlays the force direction guidance, real-time force vector magnitude, and preset tooth extraction path on the AR display. The voice command unit includes a noise-canceling microphone and an offline voice recognition module. The noise-canceling microphone collects the doctor's voice commands, and the offline voice recognition module converts voice commands such as "lock angle," "record path," and "switch mode" into electrical signals and transmits them to the control module, with a recognition accuracy of ≥98%. The foot pedal command unit includes three foot pedal switches and a mode switching module. The three foot pedal switches correspond to free guidance mode, path following mode, and tremor suppression mode, respectively. The doctor can switch the system operation mode without contact by stepping on the foot pedal switches. The mode switching module is connected to the control module.

[0038] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. Regarding the methods disclosed in the embodiments, since they correspond to the systems disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to the system section description.

[0039] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An exoskeleton robot system for tooth extraction surgery, characterized in that, include: Wearable exoskeleton body, intelligent end effector module, sensing module, control module, and multimodal human-computer interaction interface module; The intelligent end effector module can be detachably connected to the operating end of the wearable exoskeleton body to hold dental extraction instruments and collect mechanical and visual information of the surgical area. The sensing module is located at the joints of the wearable exoskeleton and on the intelligent end effector module, and is used to collect the doctor's operational intention information and the sensing information of the surgical area. The control module is connected to the wearable exoskeleton body, the intelligent end effector module, the sensing module, and the multimodal human-machine interface module, respectively, and is used to receive and process various types of collected information and output control commands to each module. The multimodal human-computer interaction interface module is connected to the control module to enable information exchange and operation command input between the doctor and the system.

2. The exoskeleton robot system for tooth extraction surgery according to claim 1, characterized in that, The intelligent end effector module includes an intelligent clamping base, a multi-dimensional force / torque sensor, a miniature vision sensor, and a quick-connect interface; A quick-connect interface is located at one end of the smart clamping base and is adapted to connect with the operating end of the wearable exoskeleton body. The other end of the intelligent clamping base is the instrument clamping end, used to clamp the sterilized tooth extraction instruments; A multi-dimensional force / torque sensor is embedded in the instrument clamping end of the intelligent clamping base to collect three-dimensional force and torque information between the extraction instrument and the tooth; A miniature vision sensor is mounted on the side wall of the smart clamping base, with the acquisition end facing the surgical area, to acquire local image information of the surgical field; Both the multi-dimensional force / torque sensor and the miniature vision sensor are connected to the control module.

3. The exoskeleton robot system for tooth extraction surgery according to claim 2, characterized in that, The sensing module includes a joint sensing unit and an end-effector sensing unit; The joint sensing unit includes encoders and inertial measurement units installed at each joint of the wearable exoskeleton, used to collect the joint's motion angle, angular velocity, and the tremor frequency of the doctor's wrist and fingers in real time, and to calculate the doctor's subtle movement intentions. The end-effector sensing unit consists of a multi-dimensional force / torque sensor and a miniature vision sensor on the intelligent end-effector module, serving as an extension of the sensing module's data acquisition capabilities; the joint sensing unit is connected to the control module.

4. The exoskeleton robot system for tooth extraction surgery according to claim 1, characterized in that, The wearable exoskeleton body includes a hand exoskeleton, a wrist exoskeleton, a forearm exoskeleton, and connecting components; The hand exoskeleton, wrist exoskeleton, and forearm exoskeleton are sequentially hinged together by connecting components, and each hinge is equipped with a joint sensing unit of a joint drive component and a sensing module. The free end of the hand exoskeleton is the operating end of the wearable exoskeleton body and is connected to the intelligent end effector module; the joint drive is connected to the control module and is used to receive control commands to drive the movement of each joint.

5. An exoskeleton robot system for tooth extraction surgery according to claim 1, characterized in that, The multimodal human-computer interaction interface module includes an AR visual interaction unit, a voice command unit, and a foot pedal command unit; The AR visual interaction unit includes a head-mounted display or surgical microscope integrated interface, which is connected to the control module to receive the processing information from the control module and overlay virtual information on the real surgical field. The voice command unit includes a voice acquisition unit and a voice recognition module. The voice acquisition unit is used to collect the doctor's voice commands, and the voice recognition module is connected to the control module to convert the voice commands into electrical signals and transmit them to the control module. The foot pedal command unit includes a foot switch and a mode switching module. The foot switch is connected to the mode switching module, and the mode switching module is connected to the control module to achieve contactless switching of the system operation mode.

6. An exoskeleton robot system for tooth extraction surgery according to claim 5, characterized in that, The virtual information superimposed on the AR visual interaction unit includes force direction guidance, real-time force vector magnitude, and preset tooth extraction path; the system operation modes include free guidance mode, path following mode, and tremor suppression mode.

7. An exoskeleton robot system for tooth extraction surgery according to claim 1, characterized in that, The control module includes a signal processing unit, a coordination control unit, and a feedback control unit; The signal processing unit is used to filter, amplify, and perform analog-to-digital conversion on the electrical signals acquired by the sensing module and the intelligent end effector module; The collaborative control unit has built-in intention calculation algorithm and force perception enhancement algorithm to calculate the doctor's operation intention, proportionally amplify the effective operation force and filter out physiological high-frequency tremors of the hand; The feedback control unit incorporates an adaptive impedance algorithm and an alert triggering algorithm, which are used to dynamically adjust the virtual impedance of each joint of the wearable exoskeleton based on the surgical area information and trigger tactile alerts.

8. An exoskeleton robot system for tooth extraction surgery according to claim 7, characterized in that, The wearable exoskeleton body has tactile vibration units on both the hand and wrist exoskeletons. The tactile vibration units are connected to the feedback control unit, which triggers the tactile vibration units to issue vibration warnings based on the tooth loosening signal or the force signal of the adjacent tooth.

9. A human-computer interaction method for an exoskeleton robot used in tooth extraction surgery, characterized in that, The application of the exoskeleton robot system for tooth extraction surgery according to any one of claims 1-8 includes the following steps: S1. The sterilized standard tooth extraction instrument is clamped at the instrument clamping end of the intelligent end effector module. The doctor wears the wearable exoskeleton and sets the surgical safety threshold, the operating force amplification ratio and the initial operation mode of the system through the multimodal human-computer interaction interface module. S2. The joint sensing unit of the sensing module collects the movement information of the doctor's wrist and fingers in real time and transmits it to the collaborative control unit of the control module to calculate the doctor's operating intention and tremor frequency. S3, the collaborative control unit outputs control commands to the joint drive components of the wearable exoskeleton body according to the operation intention, drives the movement of each joint, and at the same time amplifies the effective operating force applied by the doctor by 2 times through the force enhancement algorithm, filters out physiological high-frequency vibrations, and controls the tooth extraction instruments to perform operation actions. S4. The intelligent end effector module collects three-dimensional force and torque information and surgical field image information between the instrument and the teeth in real time, and transmits them to the signal processing unit of the control module for processing. S5. The feedback control unit of the control module dynamically adjusts the virtual impedance of each joint of the wearable exoskeleton body according to the processed surgical area information through an adaptive impedance algorithm. If a loose tooth is detected or the force on an adjacent tooth exceeds the safety threshold, the reverse resistance of the corresponding joint is immediately increased, and the tactile vibration unit is triggered to issue a vibration warning. S6. The control module transmits surgical area information and system operation information to the multimodal human-computer interaction interface module. The AR visual interaction unit overlays virtual information on the surgical field. Doctors can switch the system operation mode in real time through the voice command unit or foot command unit to achieve closed-loop operation without leaving the instrument. S7. After the tooth extraction is completed, the doctor issues a stop command through the multimodal human-computer interaction interface module. The control module controls the wearable exoskeleton to stop moving, releases the intelligent end effector module from the tooth extraction instrument, and completes the surgery.

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