Tooth implantation operation device and robot

Abstract

The utility model provides a dental implant operation device and a robot. The dental implant operation device comprises a dental machine, a mechanical arm tail end holding device, a mechanical arm and a registration device, the dental machine is installed on the mechanical arm tail end holding device, the mechanical arm tail end holding device is detachably installed on the mechanical arm, the tracer is installed on the mechanical arm tail end holding device, and the registration device is installed on the dental machine. According to the technical scheme, the position of the dental machine can be registered, and after registration is completed, the mechanical arm can implant the implant according to the planned channel, so that the implant planting requirement is met, the problems that in the operation process, the operation precision is not high, the planting effect is not ideal, and the operation process is tedious are solved, and a convenient operation tool is provided for an operation of a doctor.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to a dental implant surgery device and a robot. Background Art

[0002] In existing dental surgeries, the registration accuracy of the robotic arm used by doctors does not meet the surgical precision required during the operation. The reason is that the structural design of the tracer at the end of the robotic arm of the surgical robot cannot obtain ideal results during the camera recognition process, which in turn makes it impossible for the camera to accurately calculate the spatial position of the robotic arm.

[0003] In view of this, it is necessary to provide a new dental implant surgery device and robot to overcome the above-mentioned defects. Utility Model Content

[0004] The purpose of the utility model is to provide a dental implant surgical device and robot, which can align the position of the dental machine. After the alignment is completed, the robotic arm can implant the implant according to the planned channel, thereby meeting the requirements of implant implantation, solving the problems of low surgical accuracy, unsatisfactory implantation effect and complicated surgical process during the operation, and providing a convenient surgical tool for the doctor's operation.

[0005] In order to achieve the above-mentioned purpose, the technical solution provided by the present invention is as follows: a dental implant surgical device, comprising: a dental machine, a holding device at the end of a robotic arm, a robotic arm and a registration device; the dental machine is installed on the holding device at the end of the robotic arm, the holding device at the end of the robotic arm can be detachably installed on the robotic arm, a tracer is installed on the holding device at the end of the robotic arm, and the registration device is installed on the dental machine.

[0006] Preferably, the tracer includes a first mounting frame and a plurality of reflective balls, the first mounting frame is fixed to the holding device at the end of the robotic arm by bolts, and the plurality of reflective balls are installed on the first mounting frame at intervals.

[0007] Preferably, the alignment device includes a plurality of reflective sheets, a mounting frame and a calibration component, wherein the plurality of reflective sheets are installed on the mounting frame at intervals, and the calibration component is installed on the mounting frame and hinged to the dental machine.

[0008] Preferably, the calibration assembly includes a calibration rod, a spring sleeve, a compression spring and a calibration block, the calibration block is connected to the middle part of the mounting frame, the calibration rod is connected to the calibration block, the compression spring is sleeved around the periphery of the calibration rod, and one end of the compression spring is connected to the calibration block, and the spring sleeve is sleeved around the periphery of the calibration rod and arranged at the other end of the compression spring.

[0009] A robot comprises a dental implant surgery device, wherein a mechanical arm of the dental implant surgery device is connected to the robot, and the robot drives the mechanical arm of the dental implant surgery device to move.

[0010] Compared with the existing technology, the beneficial effect is that, during the process of aligning the robotic arm, the infrared optical navigation locator can be used to identify and capture the tracer, and calculate the specific position of the robotic arm. During the alignment of the dental machine, the alignment device is installed according to the requirements of the infrared optical navigation locator, and the infrared optical navigation locator identifies and captures the specific position of the alignment device, and then aligns the position of the dental machine. After the alignment is completed, the robotic arm can implant the implant according to the planned channel, thereby meeting the requirements of implant implantation, solving the problems of low surgical accuracy, unsatisfactory implantation results, and cumbersome surgical procedures during the operation, and providing doctors with convenient surgical tools.

[0011] Other features and advantages of the present invention will be set forth in the following description, and some will be apparent from the description, or may be learned through practice of the present invention. The features and advantages of the present invention may be realized and obtained through the elements and combinations specifically identified in the appended claims. These and other features of the present invention will become more apparent from the following description and the appended claims, or may be learned through practice of the embodiments described herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0013] Figure 1 This is a structural schematic diagram of the dental implant surgical device provided by the utility model.

[0014] Figure 2 for Figure 1 The schematic structural diagram of the registration device of the dental implant surgical device is shown.

[0015] Figure 3 Schematic diagram of the tracer structure. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solution and beneficial technical effects of the present invention more clear, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described in this specification are only for the purpose of explaining the present invention and are not intended to limit the present invention.

[0017] It should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0018] It should also be noted that, unless otherwise expressly specified or limited, terms such as "installed," "connected," "connect," "fixed," and "set" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components or interactions between two components. Those skilled in the art will readily understand the specific meanings of these terms in this utility model based on specific circumstances.

[0019] Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the technical features being referred to. Thus, a feature identified as "first," "second," or "third" may explicitly or implicitly include one or more of such features. Furthermore, "plurality" and "several" refer to two or more, unless otherwise specifically defined.

[0020] See also Figures 1 to 3 The utility model provides a dental implant surgical device for implanting a dental implant in the oral cavity, comprising: a dental machine 1, a holding device 2 at the end of a robotic arm, a robotic arm 3, and an alignment device 4; the dental machine 1 is mounted on the holding device 2 at the end of the robotic arm, the holding device 2 at the end of the robotic arm is detachably mounted on the robotic arm 3, a tracer is mounted on the holding device 2 at the end of the robotic arm, and the alignment device 4 is mounted on the dental machine 1.

[0021] During the registration process of the robotic arm, the infrared optical navigation locator can be used to identify and capture the tracer and calculate the specific position of the robotic arm. During the registration process of the dental machine, the registration device is installed in the required arrangement of the infrared optical navigation locator. The infrared optical navigation locator identifies and captures the specific position of the registration device and then aligns the position of the dental machine. After the registration is completed, the robotic arm can implant the implant according to the planned channel, thereby meeting the requirements of implant implantation. This solves the problems of low surgical precision, unsatisfactory implantation results, and cumbersome surgical procedures during the operation, providing doctors with convenient surgical tools.

[0022] In a preferred embodiment, the tracer includes a first mounting frame 21 and a plurality of reflective balls 23 . The first mounting frame 21 is fixed to the end-holding device 2 of the robotic arm by bolts 22 , and the plurality of reflective balls 23 are installed on the first mounting frame 21 at intervals.

[0023] In a preferred embodiment, the alignment device 4 includes a plurality of reflective sheets 41, a mounting frame 42 and a calibration component. The plurality of reflective sheets 41 are installed on the mounting frame 42 at intervals. The calibration component is installed on the mounting frame 42 and is hinged to the dental machine 1.

[0024] In a preferred embodiment, the calibration assembly includes a calibration rod 43, a spring sleeve 44, a compression spring 45, and a calibration block 46. The calibration block 46 is connected to the middle portion of the mounting frame 42. The calibration rod 43 is connected to the calibration block 46. The compression spring 45 is sleeved around the periphery of the calibration rod 43, with one end of the compression spring 45 connected to the calibration block 43. The spring sleeve 44 is sleeved around the periphery of the calibration rod 43 and is located at the other end of the compression spring 45. By pressing the spring sleeve 44 and the compression spring 45, and then operating the calibration rod 43, the angle of the mounting frame 42 can be changed to facilitate the alignment of the dental machine 1.

[0025] The present utility model also provides a robot, which includes a dental implant surgery device. The mechanical arm 3 of the dental implant surgery device is connected to the robot, and the robot drives the mechanical arm 3 of the dental implant surgery device to move, so as to complete the dental implant surgery.

[0026] When a dentist performs dental implant surgery on a patient, a dental implant navigation and positioning system is required. The device of the present invention is equivalent to the robot part of the navigation and positioning system.

[0027] First, the patient's dental implant channel needs to be planned through the navigation and positioning system. After the dental implant channel is planned, the robotic arm 3 moves so that the position of the dental machine is on the planned surgical channel; by confirming the position of the robotic arm 3 and the position of the dental machine 1, and after confirming the position of the dental machine 1, the dental implant is implanted.

[0028] During the planting process, the position of the robotic arm 3 needs to be calibrated first. During the registration of the robotic arm 3, an infrared optical navigation locator can be used to identify and capture the tracer of the gripping device 2 at the end of the robotic arm, and the position of the gripping device 2 at the end of the robotic arm can be calculated.

[0029] The gripping device at the end of the robotic arm is equipped with a dental implant. During the dental implant registration process, the four reflectors 41 of the registration device 4 are arranged according to the design requirements of the infrared optical navigation locator. The infrared optical navigation locator identifies the specific positions of the four reflectors 41, and the infrared optical navigation locator registers the position of the dental implant 1. After the position of the dental implant 1 is registered, implantation can be performed according to the planned channel, thereby achieving the requirements for implant placement. This solves the problems of low surgical precision, unsatisfactory implant results, and cumbersome procedures during the operation, providing doctors with a convenient surgical tool.

[0030] The present invention is not limited to what is described in the specification and implementation modes, and therefore additional advantages and modifications can be easily realized by those skilled in the art. Therefore, without departing from the spirit and scope of the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details, representative devices, and illustrated examples shown and described herein.

Claims

1. A dental implant surgical device, characterized in that: include: A dental machine (1), a holding device at the end of a robotic arm (2), a robotic arm (3), and an alignment device (4); the dental machine (1) is mounted on the holding device at the end of the robotic arm (2), the holding device at the end of the robotic arm (2) is detachably mounted on the robotic arm (3), a tracer is mounted on the holding device at the end of the robotic arm (2), and the alignment device (4) is mounted on the dental machine (1).

2. The dental implant surgery device according to claim 1, wherein: The tracer comprises a first mounting frame (21) and a plurality of reflective balls (23); the first mounting frame (21) is fixed to a holding device (2) at the end of a robotic arm via bolts (22); and the plurality of reflective balls (23) are installed at intervals on the first mounting frame (21).

3. The dental implant surgery device according to claim 1, wherein: The registration device (4) comprises a plurality of reflective sheets (41), a mounting frame (42) and a calibration component, wherein the plurality of reflective sheets (41) are installed on the mounting frame (42) at intervals, and the calibration component is installed on the mounting frame (42) and is hinged to the dental machine (1).

4. The dental implant surgery device according to claim 3, wherein: The calibration assembly comprises a calibration rod (43), a spring sleeve (44), a compression spring (45) and a calibration block (46), wherein the calibration block (46) is connected to the middle portion of the mounting frame (42), the calibration rod (43) is connected to the calibration block (46), the compression spring (45) is sleeved on the periphery of the calibration rod (43), and one end of the compression spring (45) is connected to the calibration block (46), and the spring sleeve (44) is sleeved on the periphery of the calibration rod (43) and arranged on the other end of the compression spring (45).

5. A robot comprising the dental implant surgery device according to any one of claims 1 to 4, characterized in that: The mechanical arm (3) of the dental implant surgery device is connected to a robot, and the robot drives the mechanical arm (3) of the dental implant surgery device to move.

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