Registration device for edentulous jaw implantation operation

Abstract

The utility model provides a registration device for an edentulous jaw implantation operation, which comprises a calibration bone nail fixed on a jaw bone of a to-be-implanted part in an oral cavity; the reference array is fixed on one side of a non-planting part in the oral cavity; the optical probe is used for being matched with the optical positioning camera to obtain position information of the calibration bone nail under a coordinate system of the optical positioning camera; and the optical positioning camera is used for acquiring the position information of the reference array and the calibration bone nails under the coordinate system of the optical positioning camera. According to the utility model, the position information of the reference array under the coordinate system of the optical positioning camera is obtained through the optical positioning camera, the position of the calibration bone nail is calibrated by using the probe, and the position information of the calibration bone nail under the coordinate system of the optical positioning camera is obtained, so that the position information of the calibration bone nail under the coordinate system of the reference array is obtained; and accurate registration and positioning of the edentulous jaw implantation operation are realized.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a registration device for edentulous jaw implant surgery. Background Art

[0002] With the aging of society and the increase in population, more and more dental treatments are needed. During the dental treatment process, it is necessary to take CT images of the tooth to be treated, and determine the dental treatment plan based on the CT images of the tooth to be treated. For example, during the dental implant surgery, the patient's implant site needs to be located before the surgery; generally, the positioning mark is fixed on the tooth near the implant groove, and then the final implant position is determined based on the coordinates of the positioning mark in the CT image. However, this process requires the positioning mark to be fixed on the patient's teeth. If the patient has no teeth, registration and positioning cannot be performed. Summary of the invention

[0003] The present application provides a registration device for edentulous jaw implant surgery, which solves the problem that traditional implant schemes cannot perform registration and positioning for patients without teeth.

[0004] The present application provides a registration device for edentulous jaw implant surgery, comprising:

[0005] The calibration bone screw is fixed on the jawbone at the site to be implanted in the oral cavity;

[0006] A reference array is fixed to a side of the non-implantation site in the oral cavity, and at least three reflective markers are asymmetrically arranged on the reference array;

[0007] An optical probe, used to cooperate with the optical positioning camera to obtain the position information of the calibration bone screw in the optical positioning camera coordinate system;

[0008] The optical positioning camera is used to obtain the position information of the reference array and the calibration bone screw in the optical positioning camera coordinate system.

[0009] In the technical solution provided in the present application, the calibration is fixed on the jawbone of the site to be implanted in the oral cavity, and a reference array is fixed on the side of the non-implantation site in the oral cavity. The position information of the reference array in the optical positioning camera coordinate system is obtained through an optical positioning camera. At the same time, a probe is used to calibrate the position of the calibration bone screw to obtain the position information of the calibration bone screw in the optical positioning camera coordinate system, thereby obtaining the position information of the calibration bone screw in the reference array coordinate system, thereby achieving accurate alignment and positioning of edentulous jaw implant surgery.

[0010] In some embodiments, a probe marking point is provided on the top end surface of the calibration bone screw, and the probe marking point is a conical hole for matching the tip of the optical probe; by providing a conical hole matching the tip of the optical probe on the top end surface of the calibration bone screw, the accuracy of the matching between the optical probe and the calibration bone screw can be improved, thereby improving the positioning accuracy of the implant site.

[0011] In certain embodiments, the reference array is fixed to the jawbone in the oral cavity via a bracket, the bracket comprising a connecting rod, one end of the connecting rod being fixedly connected to the reference array, and the other end being provided with a fixed bone screw, the fixed bone screw being fixed to the jawbone on the non-implantation side of the oral cavity, and the reference array being fixed to the jawbone in the oral cavity by means of the fixed bone screw and the bracket, which is convenient to install and does not occupy too much oral space, while ensuring that the reference array can be captured by the infrared positioning camera during surgery.

[0012] In some embodiments, a fixing ring is provided at one end of the connecting rod away from the reference array, and a screw is provided on the end face of the fixing bone screw, which passes through the fixing ring and is locked and fixed by a nut; the fixing bone screw is installed on the fixing ring at the end of the connecting rod by the screw and the nut, which facilitates the removal and installation of the fixing bone screw. When implanting different patients, the reference array and the bracket can be reused, and only the fixing bone screw needs to be replaced, saving material consumption.

[0013] In some embodiments, a retaining ring is provided on the outside of the screw, and a plurality of retaining blocks are provided on the outer peripheral surface of the retaining ring, and the inner wall of the fixing ring matches the outer wall of the retaining ring; by providing a retaining ring on the outside of the screw and cooperating with the retaining ring, rotation between the screw and the fixing ring can be prevented, thereby improving the stability of the reference array installation.

[0014] In some embodiments, the reflective marker is a reflective sheet or a reflective ball.

[0015] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings in this application are used to illustrate preferred embodiments, so that those skilled in the art can clearly understand various other advantages and benefits, and should not be considered as limitations of this application. In addition, the same reference numerals are used throughout the drawings to represent the same or similar components.

[0017] Figure 1 It is a schematic diagram of the structure of a registration device for edentulous jaw implant surgery in one embodiment of the present application;

[0018] Figure 2 This is a schematic diagram of the assembly structure of fixing bone screws and connecting rods in one embodiment of the present application;

[0019] Icons: 1. Calibration bone screw; 2. Reference array; 3. Reflective marker; 4. Optical probe; 5. Optical positioning camera; 6. Probe marking point; 7. Connecting rod; 8. Fixing bone screw; 9. Fixing ring; 10. Screw; 11. Nut; 12. Snap ring. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with specific embodiments. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0021] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0022] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two (including two), unless otherwise clearly and specifically defined.

[0023] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0024] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0025] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0026] See also Figure 1 , Figure 2 The present application embodiment provides a registration device for edentulous jaw implant surgery, comprising:

[0027] A calibration bone screw 1 is fixed on the jawbone at the site to be implanted in the oral cavity;

[0028] A reference array 2 is fixed to a side of the non-implantation site in the oral cavity, and at least three reflective markers 3 are asymmetrically arranged on the reference array 2;

[0029] An optical probe 4 (on which at least three reflective markers are asymmetrically arranged) is used to cooperate with the optical positioning camera 5 to obtain the position information of the calibration bone screw 1 in the coordinate system of the optical positioning camera 5;

[0030] The optical positioning camera 5 is used to obtain the position information of the reference array 2 and the calibration bone screw 1 in the coordinate system of the optical positioning camera 5 .

[0031] In the technical solution provided in the present application, the calibration is fixed on the jawbone of the site to be implanted in the oral cavity, and the reference array 2 is fixed on the side of the non-implantation site in the oral cavity. The position information of the reference array 2 in the coordinate system of the optical positioning camera 5 is obtained through the optical positioning camera 5. At the same time, the position of the calibration bone screw 1 is calibrated using a probe to obtain the position information of the calibration bone screw 1 in the coordinate system of the optical positioning camera 5, thereby obtaining the position information of the calibration bone screw 1 in the coordinate system of the reference array 2, thereby realizing accurate alignment and positioning of edentulous jaw implant surgery.

[0032] Please continue reading Figure 1 In some embodiments, a probe marking point 6 is provided on the top end face of the calibration bone screw 1, and the probe marking point 6 is a conical hole for matching the tip of the optical probe 4; by providing a conical hole matching the tip of the optical probe 4 on the top end face of the calibration bone screw 1, the accuracy of the matching between the optical probe 4 and the calibration bone screw 1 can be improved, thereby improving the positioning accuracy of the implant site.

[0033] Please continue reading Figure 1 In some embodiments, the reference array 2 is fixed to the jawbone in the oral cavity by a bracket, and the bracket includes a connecting rod 7, one end of the connecting rod 7 is fixedly connected to the reference array 2, and the other end is provided with a fixed bone screw 8, and the fixed bone screw 8 is fixed to the jawbone on the non-implantation side of the oral cavity. The reference array 2 is fixed to the jawbone in the oral cavity by the fixed bone screw 8 and the bracket, which is easy to install and does not occupy too much oral space. At the same time, it can ensure that the reference array 2 can be captured by the infrared positioning camera during the operation.

[0034] Please continue reading Figure 2 In some embodiments, a fixing ring 9 is provided at one end of the connecting rod 7 away from the reference array 2, and a screw 10 is provided on the end face of the fixing bone screw 8. The screw 10 passes through the fixing ring 9 and is locked and fixed by a nut 11; the fixing bone screw 8 is installed on the fixing ring 9 at the end of the connecting rod 7 by the screw 10 and the nut 11, which facilitates the disassembly and installation of the fixing bone screw 8. When implanting different patients, the reference array 2 and the bracket can be reused, and only the fixing bone screw 8 needs to be replaced, which saves material consumption.

[0035] Please continue reading Figure 2 In some embodiments, a retaining ring 12 is provided on the outside of the screw rod 10, and a plurality of retaining blocks are provided on the outer peripheral surface of the retaining ring 12, and the inner wall of the fixing ring 9 matches the outer wall of the retaining ring 12; by providing a retaining ring 12 on the outside of the screw rod 10, the retaining ring 12 cooperates with the fixing ring 9 to prevent the screw rod 10 and the fixing ring 9 from rotating, thereby improving the stability of the installation of the reference array 2.

[0036] In a specific embodiment, the radial cross-section of the outer ring of the retaining ring 12 can be a polygon or other non-circular shape. In this embodiment, the shape of the retaining ring 12 is similar to a gear.

[0037] In a specific embodiment, the reference array 2 and the bracket are made of lightweight rigid materials to reduce the overall weight, and the calibration bone screws 1 and the fixing bone screws 8 can both be titanium screws.

[0038] In some embodiments, the reflective marker 3 is a reflective sheet or a reflective ball. In this embodiment, the reflective marker 3 is a reflective sheet, and a total of four reflective sheets are asymmetrically arranged on the reference array 2.

[0039] The working process of the registration device in this embodiment is as follows:

[0040] Before the operation, the calibration bone screw 1 is first fixed on the jawbone of the part to be implanted in the oral cavity, and then the reference array 2 is fixed on the jawbone on the non-implantation side of the oral cavity through a bracket and a fixing screw, and then the probe marking point 6 on the calibration bone screw 1 is calibrated with a probe, and the position information of the reference array 2 and the calibration bone screw 1 in the optical positioning camera 5 coordinate system is simultaneously acquired through the optical positioning camera 5, and then the position information of the calibration bone screw 1 in the reference array 2 coordinate system is obtained through matrix conversion, so that the position information of the part to be implanted in the reference array 2 coordinate system can be obtained, and then the calibration bone screw 1 can be taken out from the patient's mouth; in the subsequent operation, when the implanter is clamped by a robotic arm to implant the part to be implanted in the oral cavity, the position information of the implanter and the reference array 2 is simultaneously captured by the optical positioning camera 5, and the relative position relationship between the drill bit at the end of the implanter and the part to be implanted can be obtained, thereby providing data support for the precise navigation and positioning of the implantation operation.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some or all of the technical features therein can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application. In particular, as long as there is no contradiction or conflict, the various technical features mentioned in the embodiments can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A registration device for edentulous jaw implant surgery, characterized in that: include: A calibration bone screw (1) is fixed on the jawbone at the site to be implanted in the oral cavity; A reference array (2) is fixed on a side of the non-implantation site in the oral cavity, and at least three reflective markers (3) are asymmetrically arranged on the reference array (2); An optical probe (4) is used to cooperate with an optical positioning camera (5) to obtain position information of the calibrated bone screw (1) in the coordinate system of the optical positioning camera (5); The optical positioning camera (5) is used to obtain position information of the reference array (2) and the calibration bone screw (1) in the coordinate system of the optical positioning camera (5).

2. A registration device for edentulous jaw implant surgery according to claim 1, characterized in that: The top end surface of the calibration bone screw (1) is provided with a probe marking point (6), and the probe marking point (6) is a conical hole used to match the tip of the optical probe (4).

3. The registration device for edentulous jaw implant surgery according to claim 1, characterized in that: The reference array (2) is fixed to the jawbone in the oral cavity via a bracket, the bracket comprising a connecting rod (7), one end of the connecting rod (7) is fixedly connected to the reference array (2), and the other end is provided with a fixed bone screw (8), the fixed bone screw (8) is fixed to the jawbone on the side of the non-implantation site in the oral cavity.

4. A registration device for edentulous jaw implant surgery according to claim 3, characterized in that: A fixing ring (9) is provided at one end of the connecting rod (7) away from the reference array (2), and a screw rod (10) is provided on the end face of the fixing bone screw (8). The screw rod (10) passes through the fixing ring (9) and is locked and fixed by a nut (11).

5. The registration device for edentulous jaw implant surgery according to claim 4, characterized in that: A clamping ring (12) is arranged outside the screw rod (10), a plurality of clamping blocks are arranged on the outer peripheral surface of the clamping ring (12), and the inner wall of the fixing ring (9) matches the outer wall of the clamping ring (12).

6. The registration device for edentulous jaw implant surgery according to claim 1, characterized in that: The reflective marker (3) is a reflective sheet or a reflective ball.

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