A connecting rod and tracking fixation device for edentulous robotic implant surgery

Abstract

This utility model discloses a connecting rod for edentulous robotic implant surgery, which includes an intraoral end, a middle part, and a connecting end; the intraoral end is configured to connect with the screw retention abutment of the implant; the middle part is constructed as a space avoidance structure to avoid the lips and / or nose; the connecting end is configured to detachably connect to the robot's tracking device; the technical solution provided by this application does not require printing a personalized registration plate or additional implantation of retention titanium screws, etc., and is simple to operate, which can effectively shorten the chairside operation time of preoperative preparation.

Description

Technical Field

[0001] This utility model relates to the field of oral medical equipment technology, specifically to a connecting rod and tracking and fixing device for edentulous robotic implant surgery. Background Technology

[0002] The application of robot-assisted implant systems in the field of dental implantology has greatly improved the precision of surgery. This system relies on an optical tracking device (marker) stably fixed to the patient's jawbone to track the patient's posture in real time. For edentulous patients, this marker can be fixed using natural teeth; however, for edentulous patients, the lack of a stable fixation base makes fixation a technical challenge.

[0003] There are three main solutions in the existing technology: First, a personalized registration plate is used, which requires the implantation of temporary anchorage nails and 3D printing of the registration plate before surgery. This has problems such as complicated procedures, impact on the surgical field, and patient discomfort. Second, multiple temporary implants are implanted for fixation. This method adds extra trauma and occupies valuable bone. Third, the first implant is used for support, but the existing connection structure has defects such as being bulky, generating lateral forces, and having an unadjustable marker direction.

[0004] Therefore, there is an urgent need in this field for a fixed connection solution that is ingenious in structure, stable in connection, flexible in adjustment and without additional trauma, in order to promote the widespread application of edentulous robotic implant technology. Utility Model Content

[0005] In view of this, the purpose of this utility model is to provide a connecting rod for edentulous robotic implant surgery, which aims to overcome at least one related technical problem existing in the background art.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: According to one aspect of this application, a connecting rod for edentulous robotic implant surgery is provided, comprising an intraoral end, a middle portion, and a connecting end. The intraoral end is configured to connect to a screw-retention abutment of the implant; the middle portion is configured to provide a space-avoiding structure for avoiding the lips and / or nose; and the connecting end is configured to detachably connect to a tracking device of the robot.

[0007] This embodiment provides a core connecting component specifically designed for robotic implantation in edentulous patients. This connecting rod, through the coordinated design of its three functional segments—the intraoral end, the middle section, and the connecting end—fundamentally replaces complex and invasive existing fixation methods, such as personalized registration plates and additional titanium screws. It enables the surgical robot to have a stable and reliable tracking reference using only a single final implant, thus simplifying the cornerstone of the entire surgical procedure.

[0008] To provide a precise, stable, and easy-to-operate connection, in one possible implementation, the inner end of the orifice is a hollow conical structure that matches the screw retention base.

[0009] To comprehensively consider avoiding the patient's lips and nose, in one possible implementation, the spatial avoidance structure is designed to include an arched structure or a zigzag structure. The advantages of an arched structure are smooth force flow, structural strength, and aesthetics; the advantages of a zigzag structure are ease of manufacturing, cost control, and dimensional precision.

[0010] As a further optimization of the above technical solution, the arched structure includes a horizontal extension section and an upwardly or downwardly arched arc section. The horizontal extension section is responsible for smoothly leading the force-bearing point from the implant inside the mouth out of the oral cavity; the upwardly or downwardly arched arc section is responsible for creating the necessary clearance space in the vertical direction. This structural design scientifically allocates mechanical performance and spatial function, and is a concrete and efficient engineering solution for achieving clearance objectives.

[0011] In some embodiments, the arched structure has a vertical height configured to avoid the lip. The height of the arched structure is 5-6 cm to ensure that the connecting rod can accommodate the physiological differences of different patients.

[0012] To ensure that the user can find the most suitable position according to the situation at the surgical site, the connection end includes at least one socket for inserting the tracking device, which can rotate within the socket to adjust its orientation.

[0013] To prevent the tracking device from changing angle or becoming loose due to vibration or accidental contact during surgery, the connecting end also includes a threaded hole for screwing in a threaded component to secure the tracking device.

[0014] Because the tip of the nose is located near the maxilla, the connecting rod is optimized and defined for this special structure. The connecting rod is set as a maxillary connecting rod, and the arched structure of the maxillary connecting rod is configured to adapt to the contour of the outer side of the patient's nasal ala when applied to the maxilla.

[0015] To ensure unobstructed surgical field and instrument operation path in the mandible, the connecting rod is optimized and defined as a mandibular connecting rod. When the mandible is used, the arched structure of the mandibular connecting rod is guided to the upper side of the cheek to make way for the surgical operation area in the front of the mandible.

[0016] According to another aspect of this application, a tracking and fixation device for edentulous robotic implant surgery is provided, comprising: a connecting rod as described in any of the preceding claims; the connecting rod is rigidly connected to the implant abutment via its intraoral end, for stably supporting the tracking device during surgery. In this embodiment, this solution achieves purely rigid and stable support through the combination of the first implant and the connecting rod. Its effect far surpasses that of existing technologies, possessing comprehensive advantages such as extremely high stability, extremely simple procedure, minimal trauma, and extremely wide adaptability.

[0017] The beneficial effects that a connecting rod for edentulous robotic implant surgery disclosed in this application may bring include, but are not limited to: 1. It eliminates the tedious steps of making a personalized registration plate and implanting multiple temporary nails, significantly shortening the preoperative preparation time and reducing treatment costs.

[0018] 2. The connection between the connecting rod provided in this application and the implant abutment is purely rigid, and the fixation stability is far superior to that of mucosal support or small implant support. This provides a high-precision spatial reference for robotic surgery and reduces the surgical risk caused by micro-movements of the device.

[0019] 3. The space avoidance structure of the connecting rod provided in this application effectively avoids interference with the lips and nose, improves patient comfort, and provides doctors with a completely open surgical field, ensuring the ease of use of surgical instruments.

[0020] 4. This utility model directly connects to the reference plate outside the mouth through a rigid connection with the implant in the anterior tooth area, avoiding the risk of the robot fixation device becoming loose due to tongue movement.

[0021] 5. This novel implant effectively utilizes a single implant involved in the final repair, avoiding the greater trauma caused by additional titanium screws, conserving valuable bone mass, and preventing additional obstruction. Attached Figure Description

[0022] Figure 1 A schematic diagram of a maxillary connecting rod for edentulous robotic implant surgery is shown according to an embodiment of this application; Figure 2 A schematic diagram of a mandibular connecting rod for robotic implant surgery for edentulous jaws, according to an embodiment of this application, is shown; Figure 3 This diagram shows the intraoral end of the connecting rod for edentulous robotic implant surgery according to an embodiment of this application.

[0023] Figure 4 This diagram shows a schematic of the connection end of a connecting rod used in robotic implant surgery for edentulous jaws, according to an embodiment of this application.

[0024] Figure 5This diagram illustrates the usage state of the maxillary connecting rod according to an embodiment of this application.

[0025] Illustration: 1-Intraoral end, 2-Middle part, 3-Connecting end, 4-Insertion hole, 5-Hollow conical structure, 6-Threaded hole, 7-Maxillary connecting rod, 8-Tracking device. Detailed Implementation

[0026] Various exemplary embodiments, features, and aspects of this application will now be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of the embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise.

[0027] It should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model or simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0028] Figure 1 A schematic diagram of a maxillary connecting rod for edentulous robotic implant surgery is shown according to an embodiment of this application; Figure 2 A schematic diagram of a mandibular connecting rod for robotic implant surgery for edentulous jaws, according to an embodiment of this application, is shown; Figure 3 This diagram shows the intraoral end of the connecting rod for edentulous robotic implant surgery according to an embodiment of this application. Figure 4 This diagram shows a schematic of the connection end of a connecting rod used in robotic implant surgery for edentulous jaws, according to an embodiment of this application.

[0029] like Figure 1 As shown in Figure 2, a connecting rod for edentulous robotic implant surgery includes an intraoral end 1, a middle portion 2, and a connecting end 3. The intraoral end 1, middle portion 2, and connecting end 3 are sequentially connected and can be integrally formed or connected by other methods, such as welding or bonding. The intraoral end 1 is configured to connect to the screw-retention abutment of the implant. See Figure 2. Figure 3 The middle part 2 is configured as a space avoidance structure to avoid the lips and / or nose; the connecting end 3 is configured to detachably connect to the robot's tracking device 8.

[0030] This embodiment provides a core connecting component specifically designed for robotic implantation in edentulous patients. Through the coordinated design of its three functional segments—the intraoral end 1, the middle section 2, and the connecting end 3—this connecting rod fundamentally replaces complex and invasive existing fixation methods, such as personalized registration plates and additional titanium screws. It enables the surgical robot to have a stable and reliable tracking reference using only a single final implant, thus simplifying the cornerstone of the entire surgical procedure.

[0031] In some embodiments, to provide a precise, stable, and easy-to-operate connection, the intraoral end 1 is a hollow conical structure 5 that matches the screw-retaining abutment. This embodiment defines a preferred, mature, and reliable connection method. In dental implantology, abutment interfaces typically employ a tapered friction fit, a design that offers self-locking, anti-rotation, and high repeatability.

[0032] In some embodiments, to comprehensively consider avoiding the patient's lips and nose, the spatial avoidance structure is designed to include an arched structure or a zigzag structure. The advantages of an arched structure are smooth force flow, structural strength, and aesthetics; the advantages of a zigzag structure are ease of manufacturing, cost control, and dimensional precision. Moreover, the above structures not only consider avoidance issues but also leverage issues. If made into a straight line, the entire device would become a cantilever beam structure in use, increasing the stress on the pre-implanted implant in the patient's mouth, increasing pain, and also introducing corresponding risks.

[0033] It should be noted that the spatial avoidance structure referred to in this embodiment is a generalization of all physical forms that can achieve the avoidance function. Those skilled in the art will know that, in addition to the arch shape described in the specification, any variant that can achieve the same function, such as a wave shape, a multi-segment bend shape, etc., falls within the protection scope of this utility model.

[0034] join Figure 2 and Figure 3 As a further optimization of the above technical solution, the arched structure includes a horizontal extension section and an upwardly or downwardly arched arc section. The horizontal extension section is responsible for smoothly leading the stress point from the implant inside the mouth out of the oral cavity; the upwardly or downwardly arched arc section is responsible for creating the necessary clearance space in the vertical direction. This structural design scientifically allocates mechanical properties and spatial functions, and is a concrete and efficient engineering solution for achieving clearance objectives.

[0035] In some embodiments, the arc segment can be composed of multiple small-angle broken line segments to approximate the arc function.

[0036] In some embodiments, the arched structure has a vertical height configured to avoid the lip. The height of the arched structure is 5-6 cm, ensuring that the connecting rod can accommodate the physiological differences of different patients. Within this range, the requirements of "effective avoidance" and "avoiding excessive cantilever" can be well balanced.

[0037] See Figure 4 In some embodiments, to ensure that the user can find the most suitable position according to the surgical site conditions, the connection end 3 includes at least one socket 4 for inserting a tracking device 8, which can rotate within the socket 4 to adjust its orientation. It can rotate 360 ​​degrees according to the patient's position to find the most suitable position, greatly enhancing the system's adaptability and reliability.

[0038] In some embodiments, to prevent the tracking device 8 from changing angle or becoming loose due to vibration or accidental contact during surgery, the connecting end 3 also includes a threaded hole 6 for screwing in a threaded element to secure the tracking device 8. The threaded element is a screw or bolt.

[0039] See Figure 5 In some embodiments, due to the presence of a nasal tip near the maxilla, the connecting rod is optimized and defined to accommodate this specific structure. The connecting rod is configured as a maxillary connector 7. When applied to the maxilla, the arched structure of the maxillary connector is configured to conform to the contour of the patient's lateral nasal ala. The opening angle of the arched structure of the maxillary connector is preferably an obtuse angle, more preferably 120-150 degrees, to avoid the nasal tip. This angle range has been simulated and verified to effectively avoid the nasal tip in most individuals while ensuring structural stability. This ensures patient comfort and device functionality during maxillary surgery.

[0040] In some embodiments, the connecting rod is made of aluminum. Aluminum offers advantages such as lightweight, sufficient strength and rigidity, ease of processing, relatively low cost, and good biocompatibility. This achieves a balance between portability and robustness, reducing the risks associated with clinical application. Of course, the connecting rod can also be made of titanium alloy, medical-grade PEEK, or carbon fiber composite materials, etc.

[0041] In some embodiments, to ensure unobstructed surgical field of view and instrument operation path in the mandible, the connecting rod is optimized and defined as a mandibular connecting rod. When the arched structure of the mandibular connecting rod is applied to the mandible, its end portion is guided to the upper cheek side to make way for the surgical operation area in front of the mandible. Specifically, the end portion of the arched structure of the mandibular connecting rod forms an angle greater than 80 degrees with its horizontal extension, preferably a 90-degree angle between the two perpendicularly, to avoid interfering with the operation of surgical instruments.

[0042] According to another aspect of this application, a tracking and fixation device for edentulous robotic implant surgery is provided, comprising: a connecting rod as described above; the connecting rod is rigidly connected to the implant abutment via an intraoral end 1, for stable support of the tracking device 8 during surgery. In this embodiment, this solution achieves purely rigid stable support through the combination of the first implant and the connecting rod. Its effect far surpasses the prior art, possessing comprehensive advantages of extremely high stability, extremely simple procedure, minimal trauma, and extremely wide adaptability.

[0043] The following section will further illustrate this application by applying it to the clinical application process: The surgery was planned according to the standard robotic implantation procedure. The first implant was placed in the patient's mandibular or maxillary anterior tooth region, and initial torque stability greater than 35 N•cm was achieved.

[0044] The permanent screw is screwed into the implant to retain the abutment.

[0045] The inner end 1 of the connecting rod of this utility model is sleeved onto the base.

[0046] Insert the tracking device Marker into the socket 4 of the connector 3, adjust its orientation to the optimal position, and then tighten the fixing screw to lock it in place.

[0047] Robotic system registration is performed on an intraoral registration platform using a snake-shaped probe or similar device.

[0048] Once registration is complete, the robotic arm, guided in real time by the marker, can track the patient's position, autonomously enter the implantation site, drill into the pre-designed site, and the doctor makes drilling decisions based on force feedback, ultimately implanting the implant.

[0049] Loosen the screws securing the connecting rod with a screwdriver to separate the connecting rod from the implant abutment. Both the first implant and the abutment can be used for routine repairs.

[0050] If the connecting rod of this patent becomes loose between the marker and the surgical procedure due to an accidental collision, the screws can be tightened again and the procedure can be re-registered to continue.

[0051] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A connecting rod for edentulous robotic implant surgery, characterized in that, include: The intraoral end (1) is configured to connect with the screw-retaining abutment of the implant; The middle part (2) is configured as a space avoidance structure to avoid the lips and / or nose; The connection end (3) is configured as a detachable tracking device (8) for connecting to the robot.

2. The connecting rod for edentulous robotic implant surgery according to claim 1, characterized in that, The inner end (1) is a hollow conical structure (5) that matches the screw fixing base.

3. A connecting rod for edentulous robotic implant surgery according to claim 1 or 2, characterized in that, The space avoidance structure includes an arched structure or a broken line structure.

4. A connecting rod for edentulous robotic implant surgery according to claim 3, characterized in that, The arched structure includes a horizontally extending section and an arc-shaped section that arches upwards or downwards.

5. A connecting rod for edentulous robotic implant surgery according to claim 3, characterized in that, The arched structure has a vertical height that is configured to avoid the lip.

6. A connecting rod for edentulous robotic implant surgery according to claim 1, characterized in that, The connection end (3) includes at least one socket (4) for inserting the tracking device (8), which is rotatable within the socket (4) to adjust its orientation.

7. A connecting rod for edentulous robotic implant surgery according to claim 1, characterized in that, The connecting end (3) also includes a threaded hole (6) for screwing in a threaded part to fix the tracking device (8).

8. A connecting rod for edentulous robotic implant surgery according to claim 4, characterized in that, The connecting rod is a maxillary connecting rod (7). When the maxillary connecting rod (7) is used in the maxilla, its contour is configured to adapt to the contour of the patient's lateral nasal wing in order to avoid the tip of the nose.

9. A connecting rod for edentulous robotic implant surgery according to claim 4, characterized in that, The connecting rod is a mandibular connecting rod. When the mandibular connecting rod is used in the mandible, its arched structure is guided to the upper side of the cheek to avoid interfering with the operation of surgical instruments.

10. A tracking and fixation device for edentulous robotic implant surgery, characterized in that, include: The connecting rod as described in any one of claims 1 to 9; the connecting rod is rigidly connected to the implant abutment via the intraoral end (1) for stably supporting the tracking device (8) during surgery.

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