Bone burring control method, parameter processing method, and device

Abstract

The present application relates to the technical field of computers, and discloses a bone burring control method, a parameter processing method, and a device. The method comprises: constructing an area model of an area to be burred of a bone segment to be burred and a burr model of a burr for burring said area; determining a reference line on the basis of the morphology of the area model, and planning sampling points on the reference line; determining a burring path by means of the reference line, comprising: on the basis of the condition of intersection between the triangular meshes of the burr model and the area model, determining a vertical retraction height of each sampling point on the reference line in a coordinate system of said area, updating the vertical-axis coordinate of each sampling point on the basis of the vertical retraction height, and generating the burring path on the basis of the updated sampling points; and on the basis of the burring path, controlling a burr corresponding to the burr model to burr said bone segment. According to the method and apparatus provided by the present application, a burring path can be generated, and the jawbone is automatically burred along the burring path by means of a machine, thereby improving the burring precision.

Description

Bone removal control method, parameter processing method and device

[0001] The present disclosure claims priority to a Chinese patent application No. 202410784469.2, filed on June 18, 2024, and entitled "Bone removal control method, device, medium and equipment", and claims priority to a Chinese patent application No. 202410916693.2, filed on July 09, 2024, and entitled "Preparation parameter processing method for implanting hole on alveolar bone and related device". The contents of the above two applications are incorporated herein by reference in their entirety. TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of computer, in particular to a bone removal control method, a parameter processing method and a device. BACKGROUND

[0003] In oral treatment, some surgeries need to remove the jaw bone with high precision and complex shape. The precision of surgical removal is directly related to the surgical effect and the safety of patients. However, at present, such surgeries mainly rely on manual operation, and it is difficult to accurately control the removal precision. The final removal shape of the patient's jaw bone obtained by manual removal may be quite different from the expected removal shape.

[0004] Therefore, how to automatically remove the bone with high precision by the robot has become a technical problem to be solved in the industry. SUMMARY

[0005] The present disclosure provides a bone removal control method, a parameter processing method, a device, a medium and an equipment.

[0006] According to an aspect of the present disclosure, a bone removal control method is provided, comprising:

[0007] constructing a region model of a region to be removed of a bone block to be removed and a drill bit model of a drill bit for removing the region to be removed;

[0008] determining a reference line according to the shape of the region model, and planning each sampling point on the reference line;

[0009] determining a removal path through the reference line, including determining the longitudinal lifting height of each sampling point in the region to be removed coordinate system on the reference line based on the intersection of the drill bit model and the triangular facet of the region model; updating the longitudinal axis coordinates of each sampling point based on the longitudinal lifting height; generating the removal path based on the updated sampling points;

[0010] controlling the drill bit corresponding to the drill bit model to remove the bone block to be removed based on the removal path.

[0011] According to an aspect of the present disclosure, a preparation parameter processing method for implanting a cavity in alveolar bone is provided, comprising:

[0012] obtaining a planned implanting region of an implant in alveolar bone;

[0013] dividing the planned implanting region into a plurality of slice layers along an implanting direction, wherein the upper and lower planes of each slice layer are perpendicular to the implanting direction, and each slice layer is divided into a plurality of sector regions;

[0014] determining a bone quality category of each sector region in each slice layer based on CT value data of the slice layer;

[0015] determining a level difference of each sector region in each slice layer based on a corresponding relationship between the bone quality category and the level difference of the implant;

[0016] determining a cavity radius of each sector region in each slice layer based on an implant radius of each sector region in the implant and the level difference of each sector region, wherein the cavity radius supports preparation of the cavity based on a drill bit.

[0017] According to an aspect of the present disclosure, a grinding robot is provided, comprising:

[0018] a control unit configured to control a mechanical arm to perform a grinding operation on a region to be ground based on a grinding path;

[0019] the mechanical arm, in communication connection with the control unit and having a terminal end supporting installation of at least one drill bit, configured to execute the grinding path under control of the control unit to perform the grinding operation on the region to be ground using the installed drill bit;

[0020] wherein the grinding path is designed based on a boundary shape of the region to be ground to adapt to a region to be ground of any shape.

[0021] According to another aspect of the present disclosure, a bone grinding control device is provided, comprising:

[0022] a construction module configured to construct a region model of a region to be ground of a bone block to be ground and a drill bit model of a drill bit for grinding the region to be ground;

[0023] a determination module configured to determine a reference line according to a shape of the region model and plan a plurality of sampling points on the reference line;

[0024] an update module configured to determine a grinding path through the reference line, including determining a longitudinal lifting height of each sampling point in a coordinate system of the region to be ground on the reference line based on an intersection of the drill bit model and a triangular facet of the region model, updating a longitudinal axis coordinate of each sampling point based on the longitudinal lifting height, and generating the grinding path based on the updated sampling points;

[0025] The control module is configured to control the drill bit corresponding to the drill bit model to grind the bone block to be ground based on the grinding path.

[0026] According to another aspect of the present disclosure, a preparation parameter processing device for preparing an implant cavity on alveolar bone is provided, comprising:

[0027] The acquisition module is configured to acquire a planned implant region of the implant in the alveolar bone.

[0028] The segmentation module is configured to segment the planned implant region into a plurality of slice layers along an implant direction, wherein the upper and lower planes of each slice layer are perpendicular to the implant direction, and each slice layer is divided into a plurality of sector regions.

[0029] The bone quality determination module is configured to determine a bone quality of each sector region in each slice layer based on CT value data of the slice layer.

[0030] The grade difference determination module is configured to determine a grade difference of each sector region in each slice layer based on a corresponding relationship between the bone quality and the grade difference of the implant.

[0031] The parameter determination module is configured to determine a cavity radius of each sector region in each slice layer based on an implant radius of each sector region in the implant and the grade difference of each sector region, wherein the cavity radius supports preparation of the cavity based on one drill needle.

[0032] According to another aspect of the present disclosure, an electronic device is provided, comprising:

[0033] at least one processor; and

[0034] a memory communicatively connected to the at least one processor; wherein

[0035] The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method of any of the embodiments of the present disclosure.

[0036] According to another aspect of the present disclosure, a non-transitory computer readable storage medium storing computer instructions is provided, wherein the computer instructions are used to cause the computer to perform the method according to any of the embodiments of the present disclosure.

[0037] According to another aspect of the present disclosure, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the method according to any of the embodiments of the present disclosure.

[0038] It should be understood that the content described in this section is not intended to identify key or important features of the embodiments of the present disclosure, nor is it used to limit the scope of the present disclosure. Other features of the present disclosure will become apparent through the following description. BRIEF DESCRIPTION OF DRAWINGS

[0039] The accompanying drawings are used to better understand the present scheme and do not constitute a limitation on the present disclosure.

[0040] FIG. 1 is a flow diagram of a bone ablation control method according to an embodiment of the present disclosure.

[0041] FIG. 2 is a schematic diagram of a coordinate system of a region to be ablated according to an embodiment of the present disclosure.

[0042] FIG. 3 is a schematic diagram of an ablation path according to an embodiment of the present disclosure.

[0043] FIG. 4 is a top view of a Z-axis ablation path according to an embodiment of the present disclosure.

[0044] FIG. 5 is a flow diagram of a preparation parameter processing method for a dental implant cavity on alveolar bone according to an embodiment of the present disclosure.

[0045] FIG. 6 is a schematic diagram of a planned implant region after envelope processing according to an embodiment of the present disclosure.

[0046] FIG. 7 is a schematic diagram of a cavity radius acquisition according to an embodiment of the present disclosure.

[0047] FIG. 8 is a schematic diagram of an abnormal slice layer according to an embodiment of the present disclosure.

[0048] FIG. 9 is a schematic diagram of an ablation region of a constant-radius circular motion trajectory calculation mode according to an embodiment of the present disclosure.

[0049] FIG. 10 is a schematic diagram of an ablation region of a diverging circular arc motion trajectory calculation mode of a step-by-step reaming according to an embodiment of the present disclosure.

[0050] FIG. 11 is a schematic diagram of a bone ablation control device according to an embodiment of the present disclosure.

[0051] FIG. 12 is a schematic diagram of a preparation parameter processing device for a dental implant cavity on alveolar bone according to an embodiment of the present disclosure.

[0052] FIG. 13 is a schematic diagram of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0053] In order to enable persons skilled in the art to better understand the present scheme, the technical solutions in the embodiments of the present disclosure will be described clearly and completely below with reference to the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by persons skilled in the art without creative labor should fall within the scope of protection of the present disclosure.

[0054] It should be noted that the terms "first", "second", and the like in the disclosure are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or modules does not have to be limited to those steps or modules clearly listed, but can include other steps or modules not clearly listed or inherent to these processes, methods, products or devices.

[0055] The bone grinding control method provided by the embodiments of the disclosure is applicable to a terminal, which can be various electronic devices with a display screen and supporting web browsing, including but not limited to servers, smart phones, tablet computers, laptop computers, desktop computers, and the like.

[0056] In the technical solutions of the disclosure, the collection, storage, use, processing, transmission, provision and disclosure of personal information involved all comply with the provisions of relevant laws and regulations, necessary security measures are taken, and public order and good customs are not violated.

[0057] FIG. 1 is a flowchart of a bone grinding control method according to an embodiment of the disclosure. As shown in FIG. 1, the method includes steps 110, 120, 130 and 140. The method flow steps are only one possible implementation of the disclosure.

[0058] Step 110, constructing a region model of a region to be ground in a bone block to be ground and a drill bit model of a drill bit for grinding the region to be ground.

[0059] Specifically, the execution subject of the bone grinding control method provided by the embodiments of the disclosure is a bone grinding control device, which can be a hardware device independently arranged in a terminal, or a software program running in the terminal. For example, when the terminal is a desktop computer, the bone grinding control device can be embodied as an application program such as machine control software in the desktop computer. The bone grinding control device can be a grinding robot for grinding bone.

[0060] The bone block to be ground is the jawbone of a patient preparing for a grinding operation. The region to be ground is the part of the bone block to be ground. The region model is a three-dimensional structure model of the region to be ground. The drill bit model can be a three-dimensional structure model of the drill bit for grinding the patient's jawbone, or a parameterized model, such as a spherical drill bit which can be completely described by the coordinates of a certain defined point and the diameter D.

[0061] A three-dimensional bone block model of the bone block to be milled and a three-dimensional milling morphology model of the milling morphology can be constructed. The milling morphology is the jawbone morphology expected after the milling operation. The milling morphology model is adjusted in relative position to the bone block model, and an intersection region of the milling morphology model and the bone block model is obtained, which is the milling region. A region model of the milling region of the bone block to be milled and a coordinate system of the milling region are constructed. FIG. 2 is a schematic diagram of a milling region coordinate system provided by an embodiment of the present disclosure.

[0062] The computed tomography (CT) data of the bone tissue of the jawbone of the patient can be processed to construct the bone block model. The milling morphology model is constructed according to the current operation type of the patient and the current state of the jawbone of the patient. For example, in autologous tooth transplantation, the tooth milling morphology model can be obtained by segmentation. The tooth milling morphology model can be converted into a triangular facet model. The milling morphology model is translated and rotated by adjusting the control to be the same as the position and angle of the bone block model.

[0063] When the position and posture of the milling morphology model are determined, the region model of the milling region is obtained by intersection, and a local coordinate system is established in the milling region. The direction of the milling region coordinate system is associated with the direction of the drill bit and the direction of movement, and the direction of the milling region coordinate system can be adjusted according to actual needs.

[0064] Step 120, determining a reference line according to the shape of the region model, and planning each sampling point on the reference line.

[0065] Step 130, determining a milling path by the reference line, including determining the longitudinal lifting height of each sampling point in the milling region coordinate system on the reference line based on the intersection of the drill bit model and the triangular facet of the region model; updating the longitudinal axis coordinates of each sampling point based on the longitudinal lifting height; and generating the milling path based on the updated sampling points.

[0066] Specifically, the milling path refers to the movement trajectory of the drill bit in the milling process, which is composed of a series of sampling points.

[0067] The sampling point refers to a point in the milling path that determines the movement trajectory of the drill bit.

[0068] The longitudinal lifting height refers to the rising height of each sampling point in the milling path along the milling direction. The longitudinal lifting height is used to ensure that the drill bit will rise to the appropriate height at each sampling point in the milling path, so as to avoid the actual milling region exceeding the range of the milling morphology.

[0069] It can be understood that the milling path includes the following path points:

[0070] The internal path point is generated based on a preset path generation rule (for example, the above-mentioned planning of each sampling point on the reference line), and is located in the interior of the area to be milled away; and in the case that a corresponding drill bit is used at the internal path point, the boundary obtained after the milling operation performed at the internal path point is still located in the interior of the area to be milled away;

[0071] The optimized path point is obtained by optimizing the edge path point generated according to the preset path generation rule; wherein in the case that a corresponding drill bit is used at the edge path point, the boundary obtained after the milling operation performed at the edge path point will break through the area to be milled away; the position of the edge path point is optimized so that in the case that a corresponding drill bit is used at the optimized path point, the boundary obtained after the milling operation performed at the optimized path point does not exceed the area to be milled away, and meets the boundary shape requirement of the area to be milled away at the optimized path point, for example, the above-mentioned sampling point will be raised to an appropriate height to avoid that the actual milled area exceeds the range of the milling shape.

[0072] In implementation, the reference line can be determined by referring to the idea of the cross-section method.

[0073] The longitudinal lifting height of each sampling point in the coordinate system of the area to be milled away is determined according to whether there is an intersecting triangular facet between the drill bit model and the area model.

[0074] After obtaining the longitudinal lifting height of each sampling point in the coordinate system of the area to be milled away, the original longitudinal axis coordinate of the sampling point is added with the longitudinal lifting height, and the updated longitudinal axis coordinate of the sampling point is obtained, and the milling path is generated by using the updated sampling point.

[0075] In step 140, the milling of the bone block to be milled away is controlled by the drill bit corresponding to the drill bit model based on the milling path.

[0076] For example, the milling path is formed by connecting each sampling point in a zigzag shape, and the milling of the bone block to be milled away is controlled by the drill bit along the milling path.

[0077] The bone milling control method provided by the embodiments of the present disclosure can determine the accurate position of the sampling point according to the intersection of the triangular facets of the drill bit model and the area model by constructing the area model of the area to be milled away of the bone block to be milled away and the drill bit model of the drill bit, generate the milling path by connecting the sampling points, and control the drill bit to mill the area to be milled away along the milling path, so that the machine (such as a milling robot) can automatically and accurately mill the area to be milled away of the bone block to be milled away; the machine can replace the manual work, improve the milling accuracy, and ensure that the final milling shape of the bone block to be milled away is closer to the expected milling shape.

[0078] It should be noted that each embodiment of the present disclosure can be freely combined, the order can be changed, or each embodiment can be executed independently, and does not need to rely on or depend on a fixed execution order.

[0079] In some embodiments, the to-be-milled region coordinate system includes an X axis, a Y axis and a Z axis; the X axis and the Y axis are transverse coordinate axes; the Z axis is a longitudinal coordinate axis, that is, the X axis and the Y axis represent an XY plane in a three-dimensional space; the sampling points are selected based on the following steps: obtaining a Z axis value range of the to-be-milled region in the Z axis direction; that is, the Z axis value range is determined based on the boundary shape of the to-be-milled region, so that the Z axis value range does not exceed the boundary of the to-be-milled region; determining the height of the reference line in the Z axis value range based on the set depth step; determining the Y axis value range of the to-be-milled region in the Y axis direction at the height of each reference line; generating a plurality of reference lines in the Y axis direction based on the height of each reference line and the Y axis value range at the height of each reference line; that is, after the Z and Y are determined in the to-be-milled region coordinate system, the X can form a straight line, and the straight line and the milling boundary have an intersection, thereby forming a plurality of line segments (i.e., a plurality of reference lines) of certain Z and Y values. A plurality of sampling points are selected on each reference line based on a set sampling interval.

[0080] Step 130 includes: updating each reference line based on the updated sampling points; sequentially connecting the corrected each reference line based on the sequence of forming the reference line and the zigzag structure to obtain the milling path.

[0081] Specifically, after setting the local coordinate system, that is, after setting the to-be-milled region coordinate system, the maximum value z max and the minimum value z min of the to-be-milled region in the Z axis direction can be calculated, thereby determining the Z axis value range of the to-be-milled region. Sampling is performed in the range with a sampling interval of z step .

[0082] According to the set depth step (i.e., z step ), the Z axis value range of the to-be-milled region is traversed, for example, the height of the current reference line is z cur , at the height, the maximum value y max and the minimum value y min of the to-be-milled region in the Y axis direction are calculated, thereby obtaining the Y axis value range. Sampling is performed in the boundary range with a sampling interval of y step .

[0083] According to the plane step parameter (i.e., y step ), the Y axis value range is traversed, assuming that the current to-be-milled region length is y cur , a reference line L ref can be obtained according to z cur and y cur , and a plurality of sampling points p initThe sampling interval S on each reference line and the sampling intervals of the Y-axis and the Z-axis can be set according to experience and actual needs, for example, the sampling interval S can be less than 0.3 mm, and the sampling intervals of the Y-axis and the Z-axis can be 1 / 6 of the diameter of the drill bit.

[0084] According to the obtained reference lines and the region model and the drill bit information, the longitudinal lifting height h of each sampling point on the reference line in the Z-axis direction is calculated lift , and the Z-axis coordinate of the sampling point is corrected by the longitudinal lifting height to obtain the final sampling point coordinate. The drill bit information can include information such as the type and size of the drill bit.

[0085] FIG. 3 is a schematic diagram of the grinding path provided by the embodiment of the present disclosure. As shown in FIG. 3, the results obtained by lifting all the reference lines are connected and combined in zigzag order to obtain the entire trajectory, that is, the grinding path. For example, according to the Y traversal order, the sampling points are connected in the most economical path mode, and then a zigzag path is formed. The path is generated based on a preset path generation rule, and the preset path generation rule includes the aforementioned method of planning sampling points on the reference line. For example, the current reference line The corresponding three-dimensional trajectory point To ensure the continuity of the trajectory, the adjacent The generated three-dimensional trajectory points are connected at the beginning and the end. Finally, the z cur trajectory point set is obtained. cur The grinding path {p all} is formed by splicing in the order of increasing or decreasing z.

[0086] The bone grinding control method provided by the embodiment of the present disclosure selects the sampling points by the above method, and obtains an accurate grinding path by correcting the positions of the sampling points, thereby improving the accuracy of grinding.

[0087] In some embodiments, step 130 includes: placing a drill bit model on any sampling point; determining an initial position of the drill bit model on any sampling point on the reference line; lifting the drill bit model from the initial position along the longitudinal axis direction by a minimum height, so that the drill bit model does not intersect with any triangular facet of the region model; and taking the minimum height by which the drill bit model is lifted as the longitudinal lifting height of the sampling point. Lifting the drill bit model from the initial position along the longitudinal axis direction by the minimum height, so that the drill bit model does not intersect with any triangular facet of the region model, includes: screening a plurality of intersecting triangular facets from the triangular facets on the surface of the region model by a method combining face detection, edge detection and vertex detection, so that the plurality of intersecting triangular facets intersect with the shape of the drill bit model; and traversing the intersecting triangular facets, and progressively lifting the height of the drill bit model until each face, point and edge on the intersecting triangular facets are located on the boundary of the drill bit model or outside the drill bit model.

[0088] Specifically, the drill bit model is virtually placed at the reference line sampling point to determine the initial position of the drill bit model. The position is uniquely determined, and in general, the axial direction of the drill pin is parallel to the z-axis of the coordinate system, and the defined point position of the drill pin coincides with the sampling point, that is, at any sampling point on the reference line, the initial position of the drill bit model coincides with the sampling point. Then, several triangular facets that intersect with the drill bit model are selected from the triangular facets of the region model surface, and these triangular facets are referred to as intersecting triangular facets. Among them, there are various detection methods for selecting triangular facets that intersect with the drill bit model, such as using face detection or face detection combined with vertex detection and / or edge detection. As long as a series of detections can gradually exclude triangular facets that definitely do not intersect, and gradually find intersecting triangular facets, the goal can be achieved. Preferably, the above three detection methods are combined. In this way, the calculation process is relatively simple and fast. Face detection is to detect the relationship between the features of a single triangular facet and the features of the drill bit model. For example, it is judged whether the distance between the plane where the triangular facet is located and the center of the ball drill is greater than or equal to the ball radius of the ball drill; in the case of greater than or equal to the ball radius, the two do not intersect, otherwise they intersect. Edge detection is to detect the relationship between the features of a certain edge of a triangular facet and the features of the drill bit model. For example, it is judged whether the distance between the straight line where the edge of the triangular facet is located and the center of the ball drill is greater than or equal to the ball radius of the ball drill; in the case of greater than or equal to the ball radius, the two do not intersect, otherwise they intersect. Vertex detection is to detect the relationship between the features of a vertex of a certain edge of a triangular facet and the features of the drill bit model. For example, it is judged whether the distance between the vertex of the triangular facet and the center of the ball drill is less than the ball radius of the ball drill; in the case of less than the ball radius, the two intersect, otherwise they do not intersect. The above are examples, and in practice, face detection, edge detection, and vertex detection can be designed as needed.

[0089] After selecting the triangular facets of the region model surface that intersect with the drill bit model, the intersecting triangular facets selected above are traversed, and the drill bit model height is progressively raised until each face, point, and edge on the intersecting triangular facets is located on the boundary of the drill bit model or outside the drill bit model (some steps in the traversal process may not require lifting). The total lifting height of the sampling point in this process is the longitudinal lifting height of the sampling point. That is, based on the internal path points obtained by using this preset path generation rule on the reference line, no lifting is required, while the edge path points require lifting, and the edge path points after lifting are referred to as optimized path points. The bone removal control method provided by the embodiments of the present disclosure can obtain the shortest lifting height at which the drill bit model no longer intersects with the triangular facets of the region model, and the Z-axis coordinate of the sampling point can be adjusted by the height, so as to obtain an accurate removal path.

[0090] In some embodiments, step 140 comprises: determining an expected position of the drill bit based on the current position of the drill bit, the drill bit orientation and the target speed; obtaining a sampling point closest to the expected position in the grinding path; and controlling the drill bit to move to the closest sampling point and grind the bone block to be ground; wherein the edge sampling point is a sampling point obtained by lifting a sampling point at which a reference line intersects the region model. That is, the edge sampling point belongs to the optimized path point. When the sampling point between the current position of the drill bit and the closest sampling point calculated based on the current position of the drill bit includes the edge sampling point, the movement direction of the drill bit is determined based on the current position of the drill bit and the position of the edge sampling point, and the drill bit is controlled to move towards the edge sampling point.

[0091] Controlling the drill bit to move towards the edge sampling point comprises: when the distance between the drill bit and the edge sampling point is less than a preset threshold, determining the movement direction of the drill bit based on the current position of the drill bit and the position of the closest sampling point calculated based on the current position of the drill bit, and controlling the drill bit to move to the closest sampling point calculated based on the current position of the drill bit. Specifically, in the process of controlling the drill bit to grind the region to be ground along the grinding path, the edge constraint method is used to make the drill bit position highly coincide with the edge of the region to be ground, thereby improving the grinding precision. For a grinding path with a given sampling interval of ξ, in view of the relatively small size of the grinding shape, in order to ensure the grinding precision, the sampling interval can be limited to, for example, ξ≤0.5 mm. On the other hand, in the process of running in a non-edge path, when selecting the target point, i.e., the expected position, a point farther in the forward direction is selected as much as possible.

[0092] FIG. 4 is a top view of a Z-axis grinding path provided by an embodiment of the present disclosure. As shown in FIG. 4, given a feed speed parameter v, a drill bit orientation a and a known drill bit position p cur , the expected position p d of the drill bit is estimated by calculating p cur =p d +ΔT·v·a. Wherein a is a unit vector, which is the direction from the current actual position to the expected position; v is the target speed, p cur is the current actual position of the drill bit; T is time. ΔT is the grinding time, which is generally fixed, for example, 8 ms.

[0093] In the trajectory set p all of the grinding path, the closest point to the expected position is found as the target point p pick in the sampling point according to p d =arg min||p i -p pickThen the robot performs motion using the classical feedback control of the drill. In this process, in the non-edge path running, the selected front and rear target points are not adjacent, but span several intermediate points. i For the i-th subset in the trajectory set, p i ∈{p all}.

[0094] If a traditional linear search method is used, the intermediate points will be sampled on the straight line path between the two points to be spanned. The drill may achieve the desired effect at the intermediate position of a path, but when it is close to the edge of a triangular facet model (for example, point 1 in FIG. 4), if the next target point is selected as point 3 in FIG. 4, this method will select point 4 in the a direction (the direction from 1 to 3) as the target point, resulting in the gray area in FIG. 4 not being removed.

[0095] Therefore, the embodiment of the present disclosure adopts an edge constraint method. Specifically, for example, points 2 and 3 in FIG. 4 are determined as edge sampling points, and an edge constraint distance δ is determined. When the drill is at point 1 (the last sampling point of the critical boundary facet), the motion direction is set to β (the vector from 1 to 2, p d =p cur +ΔT·v·α formula, where a is a specific value), and β is adjusted according to the actual position feedback until ‖p cur -p2‖<δ (generally greater than the repeatability accuracy of the robot arm 0.03 mm, which is determined according to the accuracy requirement), that is, the distance from p cur to p2 is less than a certain threshold, and the drill changes direction to move towards point 3. Point 3 is also an edge sampling point, and during the running process towards point 3, the edge constraint distance is still considered, and after the edge constraint distance is reached, the running towards point 5 or the sampling points thereafter begins. In this way, the drill motion will be more consistent with the grinding shape surface. Since there are no edge sampling points in the several sampling points after point 3, considering the grinding efficiency, the drill can continue to run according to the ordinary linear search method, and the drill direction moves towards the sampling point closest to the expected position calculated, that is, towards a sampling point after point 5. The distance from point 5 to point 3 in FIG. 4 is the minimum distance between two sampling points, which is equal to the distance between point 1 and point 2, and this distance is the sampling interval.

[0096] The bone grinding control method provided by the embodiment of the present disclosure improves the grinding accuracy by using the edge constraint method when the drill position is close to the edge of a triangular facet when the grinding path is curved.

[0097] In some embodiments, step 140 comprises: mapping the grinding path into the grinding executor coordinate system; driving the drill bit to rotate, and driving the drill bit to grind the bone block to be ground along the grinding path in the grinding executor coordinate system based on the mechanical arm. Specifically, a description file of the bone block to be ground can be acquired, the file recording relevant information of the bone block to be ground, a drill bit is selected according to the area to be ground of the bone block to be ground, and the drill bit parameters and shapes (spheres, cylinders or cones, etc.) are combined with the above-mentioned grinding path generation step to plan the drill bit motion trajectory, that is, to generate the current grinding path. Different drill bits can be selected to grind different areas of the area to be ground according to actual needs. For example, a cylindrical drill bit can be selected for the area to be ground with edges on the bottom surface. The drill bit and the grinding path have a one-to-one correspondence. For example, the area to be ground can be divided into different sub-areas according to the drill bits used, and each sub-area is ground by a corresponding drill bit. Each sub-area can be used to generate a grinding path for the area to be ground, and the grinding operation is performed based on the grinding executor.

[0098] The grinding path can be imported into the execution system, and the area to be ground is registered, thereby establishing a fixed connection between the patient image coordinate system and the mouth-mounted target coordinate system, and mapping the grinding path sampling points into the executor coordinate system. The mouth-mounted target is a visual marker worn outside the patient's mouth, and the infrared sensor can identify and locate the three-dimensional position and attitude of the target. The drill bit is driven to rotate by the implant machine, and the mechanical arm drives the drill bit to start grinding.

[0099] The bone grinding control method provided in the embodiments of the present disclosure relies on the high repeatability of mechanical motion accuracy and the high positioning accuracy of infrared vision to achieve high-precision grinding of the area to be ground.

[0100] In the embodiments of the present disclosure, the area to be ground can be an implant cavity. It can be understood that when a human body lacks teeth, teeth cannot be repaired due to severe tooth decay, injury or other reasons, implantation of an implant can be performed on the teeth. During the implantation of the implant, the necrotic, disintegrated and bacterially infected pathological tooth tissue should be completely removed to eliminate infection and terminate the caries process, and the restoration body is tightly attached to the hole wall to prevent secondary caries. The preparation of the implant cavity is crucial for subsequent treatment, so relevant personnel need to operate accurately when preparing the cavity to ensure the removal of pathological tissue and the protection of healthy dentin.

[0101] In oral implant surgery, if the tooth is prepared by hand and corresponding manual tools, it is easy to have problems such as insufficient accuracy, too large volume of prepared cavity, and more traumatic surfaces. The diversity of implant shapes requires that some implant cavities are not tightly combined with the implant, which affects the initial stability of the implant.

[0102] In oral implant surgery, if the tooth is prepared by artificial and corresponding manual tools, it is easy to have problems such as insufficient accuracy, oversize preparation volume, and more trauma. Therefore, oral robot (also known as grinding robot) implant technology can be used to prepare the implant cavity. Oral robot implant technology is a frontier technology in the field of oral medicine, aiming to improve the accuracy, efficiency and minimally invasive nature of dental implant surgery.

[0103] At present, different implants have different shapes, some are close to cylindrical and some are close to conical. In order to achieve good initial stability after implantation, a simple cavity shape cannot meet the requirements, and the cavity shape needs to be planned according to the specific implant shape and the bone density at the expected preparation cavity site. Based on this, the disclosure embodiment proposes a preparation parameter processing method for implanting a cavity on alveolar bone. It is mainly used to generate a reasonable implant cavity and support the use of a drill bit for grinding. Therefore, it can also be called a bone grinding control method. In order to facilitate understanding of the key words involved in this method, the following content is included:

[0104] CT value: CT value is calculated according to the attenuation coefficient of X-ray absorption by different tissues and organs of the human body, reflecting the ability to block X-rays. The CT value of each tissue in the human body is between-1000 and +1000, and the higher the density, the higher the CT value. CT value is usually referred to as Hounsfield unit (HU), and the CT value of air is-1000, and the CT value of dense bone is +1000.

[0105] Initial stability: refers to the instantaneous nature of the implant when it is implanted in place, which is generally represented by the anchoring force of the mechanical properties of the implant-bone interface, and is also a mechanical locking phenomenon of the implant-bone interface formed by the mismatch of the implant and the bone cavity. When the implant is initially implanted in the bone tissue, the mobility between the implant and the bone interface is within a certain range, and cannot be too large. Otherwise, it will cause the implant surface to be wrapped in fibers. Initial stability is related to alveolar bone density, operator operation, implant shape, etc. It can be obtained by matching the height of the implant and the implant bed, osseointegration, and gradual loading.

[0106] Level difference: when implanting teeth, the cavity is usually smaller than the radius of the implant, and this difference is called the level difference. The purpose of setting the level difference is to enable the implant to obtain good initial stability.

[0107] In the method provided by the disclosure embodiment, the planned implant region of the implant in the alveolar bone can be obtained first. On this basis, the bone density distribution in the planned implant region is considered to determine the key data of the implant cavity, i.e. the radius. As shown in FIG. 5, it is a flowchart of the preparation parameter processing method for implanting a cavity on alveolar bone provided by the disclosure embodiment, which includes the following content:

[0108] S501, obtaining a planned implant region of the implant in the alveolar bone;

[0109] In the embodiments of the present disclosure, when planning the implant, the type of the implant to be implanted can be determined based on the specific conditions of the patient and the clinical experience of the doctor, and the implant site and implant direction are planned in the planning software. In implementation, the implant model can be placed in the planning software at the position of the patient's alveolar bone CT image for planning implantation to obtain the planned implant region of the implant in the alveolar bone. Since the bone density of the alveolar bone is not uniform, in order to obtain better initial stability, the bone density distribution of the planned implant region is considered in the embodiments of the present disclosure to determine the radius of the implant cavity.

[0110] S502, dividing the planned implant region into a plurality of slice layers along the implant direction; wherein the upper and lower planes of each slice layer are perpendicular to the implant direction, and each slice layer is divided into a plurality of fan-shaped region;

[0111] In the embodiments of the present disclosure, the division process can be completed in the CT image of multi-planar reconstruction.

[0112] Specifically, when the planned implant region is divided, as shown in FIG. 6, the planned implant region can be subjected to envelope processing first. In order to facilitate implementation, the thread gap of the implant can be filled and flattened to obtain a planned implant region with a smooth surface and no thread. The envelope-processed planned implant region is divided and then subjected to approximation processing to obtain a plurality of slice layers, and the entire slice layer is regionally divided with the center of the polar coordinates of the center of each slice layer to form a plurality of fan-shaped regions. Different slice layers can be divided into a plurality of fan-shaped regions according to the same division method. For example, as shown in FIG. 7, each slice layer can be uniformly divided into 12 fan-shaped regions.

[0113] S503, determining the bone quality category of each fan-shaped region in each slice layer based on the CT value data of each slice layer;

[0114] S504, determining the level difference of each fan-shaped region in each slice layer based on the corresponding relationship between the bone quality category and the level difference of the implant;

[0115] In the embodiments of the present disclosure, the level difference data of different implants under different bone quality conditions can be obtained according to the data provided by the implant manufacturer. In the embodiments of the present disclosure, the level difference is the distance ε compensated based on the radius of the implant to the center. Generally, when the bone quality in this range is hard, ε is small, and when the bone quality in this range is soft, ε is large.

[0116] It needs to be explained that generally the implant of the implant manufacturer will be recommended according to the shape, self-tapping, a reference level difference value. According to the implant manufacturer level difference suggestion, for cancellous bone, the level difference can be as large as about 3mm, and for high density bone, the level difference can be only 0.3mm.

[0117] S505, based on the implant radius of each sector area in the implant and the level difference of each sector area, determining the hole radius of each sector area in each slice layer, wherein the hole radius supports the preparation of the hole based on a drill bit.

[0118] According to the scheme of the embodiment of the present disclosure, by dividing the planned implant area of the implant into multiple cutting layers and sector areas, it can be realized that the different cutting layers in the implant direction adapt to the different bone quality in the longitudinal direction. And in the cutting layer, the sector area with different radius adapts to the change of bone quality in the same plane, so as to better adapt to the bone quality in two dimensions of longitudinal and transverse directions. In order to refine the overall level difference of the planned implant area of the implant into the level difference data corresponding to the sector area based on the level difference requirement of the implant itself, so as to ensure to obtain the appropriate hole radius, so as to improve the uniformity of the implant in each position under the pressure, so as to meet the initial stability.

[0119] In the embodiment of the present disclosure, after obtaining the hole radius of each sector area, a planned grinding track can also be used when grinding with a drill bit, so as to realize automatic drilling and grinding.

[0120] In some possible implementation manners, the planned implant area is divided into multiple slice layers along the implant direction, which can be implemented as: determining a longitudinal sampling interval along the implant direction based on the pitch of the implant; dividing the conical envelope of the planned implant area into multiple conical segments along the implant direction based on the longitudinal sampling interval; for each conical segment, selecting a target surface from the conical segment, and constructing a cylinder based on the target surface to obtain a slice layer corresponding to the conical segment; wherein the target surface of the conical segment is preferably the larger surface of the upper and lower surfaces of the conical segment.

[0121] In the embodiment of the present disclosure, by filling and processing the thread gap of the implant, a smooth and thread-free planned implant area is obtained, and the complexity of the planned implant area is reduced to a conical envelope. The longitudinal sampling interval can generally be set as the height of the slice layer, and the pitch of the implant can be directly selected as the longitudinal sampling interval, or a certain multiple of the pitch can be selected as the longitudinal sampling interval. According to the longitudinal sampling interval, the planned implant area is divided into several slice layers.

[0122] When the implant is close to a cylinder and the bone quality categories above and below the implant are not significantly different, the pitch can be multiplied by a certain multiple to serve as the longitudinal sampling interval. That is, the closer the implant is to a cylinder and the smaller the difference in bone quality categories, the larger the longitudinal sampling interval can be. In addition, the height of each layer of the slice layer can also be unequal, and when the implant is close to a cylinder, the height of each layer can also be appropriately adjusted according to the category of the bone quality, for example, a certain slice layer is three pitches high, and another slice layer is two pitches high.

[0123] The target surface includes the upper and lower surfaces of the vertebral body-like segment and the plane between the upper and lower surfaces of the cone-like segment, and the plane is parallel to the upper and lower surfaces of the vertebral body-like segment. For example, as shown in FIG. 6, the larger surface of the upper and lower surfaces of the vertebral body-like segment is selected as the target surface, and the segmented cone is approximated to a cylinder with a radius equal to the radius of the larger surface of the upper and lower surfaces of the vertebral body-like segment, to obtain the cylinder slice layer corresponding to the cone-like segment.

[0124] According to an embodiment of the present disclosure, a scheme for directly and uniformly dividing the planned implant area according to the pitch can reduce the input parameters and simplify the calculation. In addition, the trajectory planned according to the hole radius is closer to the thread form of the implant, thereby forming better bonding tightness and enabling the implant to obtain better initial stability. Moreover, the time required for grinding the planned implant area using only one drill bit is much shorter than the time required for grinding the planned implant area using multiple drill bits in a step-by-step manner.

[0125] In some possible implementation manners, the planned implant area is divided into multiple slice layers and multiple sector regions along the implant direction, including: on the same slice layer plane, a region is divided on the entire circumference at equal angles with the center of the slice layer plane as the center, and the same division region is divided in a direction perpendicular to the slice layer plane to a depth of a longitudinal sampling interval, and the obtained space region is taken as a sector region on the slice layer.

[0126] According to an embodiment of the present disclosure, on the basis of dividing the planned implant area into multiple slice layers, each slice layer is further divided into multiple sector regions, and the planned implant area is overall refined into multiple sector regions, which facilitates subsequent planning and adaptation of the hole radius according to different bone quality categories to improve the initial stability and provide a good data basis for generating a planned grinding trajectory of the drill needle.

[0127] In some possible implementation manners, based on the CT value data of each slice layer, the bone quality category of each sector region in each slice layer is determined, including: for each slice layer, the following operations are respectively performed: obtaining the CT value of each point on the slice layer from the CT image of the alveolar bone; and for each sector region in the slice layer, determining the bone quality category of the sector region based on the CT value in the sector region.

[0128] In the embodiments of the present disclosure, the computer tomography image of the bone of all points of the implant planning position is acquired, and the bone quality can be classified according to the CT value data. Since the CT value of any point of the CT image after multi-planar reconstruction is known, as long as the contour of the implant planning area is determined, the average CT value of the region can be calculated through the CT value corresponding to each point. In addition, the CT average value of each sector region on the same slice layer can be obtained by averaging the CT value of each sector region thereon. The bone quality can be classified based on the CT average value of the sector region. Specifically, for example, the bone quality is divided into four categories (class I bone, class II bone, class III bone, and class IV bone) based on the CT average value of each sector region of the slice layer. The CT value demarcation point corresponding to the four types of bone can be obtained by experiment, so that the bone quality of any point in the reconstructed CT image can be classified; or the average CT value of the bone of a certain region can be classified.

[0129] It should be noted that in addition to the mean value, the bone quality can also be classified according to the bone density distribution in the embodiments of the present disclosure, and the bone quality classification manner is not limited in the embodiments of the present disclosure. In addition, in addition to the above four bone quality categories, the number of bone quality categories can be set according to actual needs, and the present disclosure is not limited thereto.

[0130] According to the scheme of the embodiments of the present disclosure, by acquiring the bone quality categories of each sector region, the bone quality categories of the surface of the planning implant region can be effectively refined, so that the bone quality categories of each part of the planning implant region can be analyzed and processed, so that the grade difference of different bone quality regions can be determined, so as to accurately plan the hole radius of each sector region, thereby improving the initial stability.

[0131] In a possible implementation, based on the implant radius of each sector region in the implant and the grade difference of each sector region, the hole radius of each sector region in each slice layer is determined, which can be implemented as follows: for each sector region, the difference between the implant radius of the sector region in the implant and the grade difference of the sector region is determined to obtain the hole radius of the sector region. In the embodiments of the present disclosure, as shown in FIG. 7, the hole radius of the sector region is obtained by subtracting the grade difference of the sector region from the implant radius of the sector region, which is specifically shown in expression (1):

[0132] r C = r - ε (1)

[0133] wherein, r Cis the implant radius of the sector region (the implant radius here can be represented by the radius of the cylinder obtained after the conical envelope of the implant region is divided and approximately processed), and ε is the step difference of the sector region.

[0134] According to the scheme of the embodiments of the present disclosure, the hole radius of each sector region is obtained based on the step difference corresponding to each sector region, and then the different radii of each part of the planned implant region can be obtained to improve the initial stability.

[0135] After the implant hole is planned, in addition to planning the grinding path based on the reference line, the drill grinding path can also be reasonably planned according to the hole radii of different slice layers. Specifically, for each slice layer, the following is performed: for each sector region in the slice layer, a reference arc of the sector region is established based on the hole radius of the sector region; the reference arcs of each sector region in the slice layer are sequentially connected to determine an initial reference curve of the slice layer; in the case that the change trend of the hole radius of the same sector region in each slice layer along the implant direction is consistent, a planned grinding trajectory of a drill is generated based on the initial reference curves of each slice layer.

[0136] In general, the change trend along the implant direction is gradually decreasing along the crown-root direction, and the planned grinding trajectory is the planned drill grinding path, which is generally represented by the position of the drill center point. The way of dividing the sector region is consistent in different slice layers, so there is the same sector region in different slice layers. The change trend of the hole radius of the same sector region in the longitudinal direction should gradually increase or gradually decrease. If the change trend is inconsistent, for example, it first increases and then decreases, and then continues to increase, it is not conducive to preparing the implant hole. If the change trend is consistent, it is considered that the designed hole radius is reasonable and is conducive to preparing the implant hole.

[0137] In the embodiments of the present disclosure, in the case of being conducive to preparing the implant hole, the reference arcs of different sector regions on a certain slice layer can have different radii. The formed connecting lines can include line segments along the radius direction, and connecting these connecting lines together is the boundary of the drill grinding, that is, the initial reference curve. The initial reference curve designed in this way can adapt to implant holes of any shape, that is, adapt to the area to be ground of any shape. The initial reference curve can be understood as a path composed of internal path points and edge path points generated based on another preset path generation rule.

[0138] According to the scheme of the embodiments of the present disclosure, through the planned grinding trajectory of the drill, it can be ensured that each part of the implant in the hole generated along the planned grinding trajectory is subjected to a relatively uniform pressure at each position, and the implant hole can be prepared by one drill.

[0139] In some possible implementation manners, in the case that the variation trend of the hole radius of the same sector region in each slice layer along the planting direction is inconsistent, a slice layer corresponding to the same sector region is determined as an abnormal slice layer; the hole radius of the same sector region in the abnormal slice layer and the corresponding initial reference curve are corrected, so that the variation trend of the hole radius of the same sector region in each slice layer along the planting direction is consistent, and the step of generating the planning grinding track of the drill bit based on the initial reference curve of each slice layer in the case that the variation trend of the hole radius of the same sector region in each slice layer along the planting direction is consistent is returned.

[0140] The abnormal slice layer can be understood as a slice layer that deviates from the preset variation trend. For example, in the planting direction, the hole radius on the upper side should be greater than or equal to the hole radius on the lower side, and then the actual situation is that the hole radius on the upper side is less than the hole radius on the lower side. At this time, the slice layer on the upper side is the abnormal slice layer and needs to be corrected.

[0141] According to the scheme of the embodiments of the present disclosure, by processing the abnormal slice layer in the case that the variation trend of the hole radius of the same sector region in each slice layer along the planting direction is inconsistent, the abnormal situation of the mechanical arm when grinding along the planting direction can be effectively avoided. For example, there is a case that the hole diameter on the upper side in the planting direction is less than the hole diameter on the lower side in the planting direction, and then the problem that the mechanical arm is not easy to implement grinding work is avoided as much as possible.

[0142] For example, in the embodiments of the present disclosure, as shown in FIG. 8, the conical body is an envelope formed by planned implants. It is assumed that the direction from top to bottom, i.e., the crown root direction, is the positive direction of the axial direction, and the gray area shown in FIG. 8 is the alveolar bone edge of each slice layer of a certain sector region of the planning planting region; the central region is the position of each slice layer of the planning planting region. When traversing along the negative direction of the axial direction from bottom to top, when the second layer is traversed, it is found that the hole radius R2 of the sector region of the second layer is less than the hole radius R3 of the sector region of the third layer, the hole radius R2 corresponding to the sector region is expanded, and the expanded hole radius is the hole radius R3 of the adjacent sector region on the lower side; after the first layer is traversed and adjusted, the hole radius of each slice layer of the entire sector region satisfies the variation trend of “upper large and lower small”. Then the next sector region is continuously traversed and adjusted.

[0143] Specifically, based on the calculated ideal differential value, when the bone quality fluctuates during the drill bit path planning, for example, in the planning of the lower alveolar bone implant hole, the hardness of a certain segment of bone is greater than that of the upper segment of cancellous bone, and the hole radius of the cancellous bone after the differential reduction may be less than the hole radius of the underlying hard bone. In this way, the hole mechanical arm of “upper small and lower large” is not easy to implement, and needs to be optimized and corrected.

[0144] The radius of the sector where this situation occurs is adjusted until the trend of the hole radius of the sector region in each slice layer along the implant direction is consistent, ensuring that there is no phenomenon of "small on top and large on bottom". The correction process is achieved by traversing the hole radius of the sector region from bottom to top along the implant direction. For example, if it is found that the hole radius of a certain sector region in the third layer is smaller than that of the same region in the second layer, the hole radius of the sector region in the third layer is increased until the trend of the hole radius of the sector region in each slice layer along the implant direction is consistent. When planning the implant hole preparation of the alveolar bone, the sector region of a certain region in all layers meets the condition that the radius of the sector region on top is greater than or equal to the radius of the sector region below, and then the traversal of the sector region of this region is completed, and the traversal of the sector region of other regions is similar to this order. Finally, the trend of the hole radius of the sector region in each slice layer along the implant direction is consistent, and the boundary of the drill bit is obtained.

[0145] According to the scheme of the embodiments of the present disclosure, for example: when planning the implant hole preparation of the alveolar bone, the embodiments of the present disclosure subdivide the level difference, in the case that the bone of the alveolar bone is upper hard bone and lower soft bone, the sector region in this angle range forms multiple layers of steps from top to bottom, so that the upper hard bone has enough space to avoid the risk of bone fracture, and the lower soft bone has a larger level difference, that is, provides a more stable combination to increase the initial stability. For another example: in the case that the bone of the alveolar bone is top hard bone, middle soft bone, and bottom hard bone, it is ensured that the lower hard bone has enough space to avoid the risk of bone fracture, and the middle soft bone is expanded to the size of the radius of the sector region corresponding to the lower hard bone to avoid the phenomenon of "small on top and large on bottom", that is, the level difference of this part of the soft bone is smaller than the recommended level difference, but still has a certain level difference, and the level difference of the upper hard bone is smaller, so the corresponding larger sector radius is ensured, which ensures that the upper hard bone does not have excessive stress when installing the implant, ensuring the safety of the implant. Therefore, the sector region in this angle range forms multiple layers of steps from top to bottom. The level difference of the hard bone region of the upper and lower layers of the sector region ensures the initial stability of the implant.

[0146] In some possible implementation manners, generating the planning removal track of the drill bit based on the initial reference curve of each slice layer includes: processing the initial reference curve of each slice layer by using a constant radius circular motion track calculation mode or a step-by-step reaming divergent circular arc motion track calculation mode to generate the planning removal track of the drill bit. The constant radius circular motion track calculation mode or the step-by-step reaming divergent circular arc motion track calculation mode in the embodiments of the present disclosure both belong to the preset path generation rule.

[0147] In the embodiments of the present disclosure, a circumferential motion trajectory calculation mode with a fixed radius can be selected to process the initial reference curve of each slice layer to generate a planned removal trajectory of a drill needle. A diverging circular arc motion trajectory calculation mode can also be selected to process the initial reference curve of each slice layer to generate a planned removal trajectory of a drill needle.

[0148] In addition, multiple drill needles can also be used for implant cavity removal. It can be understood that a circumferential motion trajectory calculation mode with a fixed radius can be selected to process the initial reference curve of each slice layer to generate a planned removal trajectory (i.e., a removal path) suitable for multiple drill needles. A diverging circular arc motion trajectory calculation mode can also be selected to process the initial reference curve of each slice layer to generate a planned removal trajectory suitable for multiple drill needles.

[0149] According to the scheme of the embodiments of the present disclosure, different drill needle motion trajectories generated by different motion trajectory calculation modes can better ensure the requirements of implant diversity and removal accuracy.

[0150] In a possible implementation, a circumferential motion trajectory calculation mode with a fixed radius is used to process the initial reference curve of each slice layer to generate a planned removal trajectory of a drill needle, including: for each sector region of each slice layer, the following operations are respectively performed: determining the maximum quotient between the cavity radius of the sector region and the drill needle diameter; generating a planned removal trajectory of a drill needle for the sector region based on the maximum quotient and the cavity radius of the sector region; wherein in the planned removal trajectory, the circumferential radius of the planned removal trajectory is gradually increased by a preset step size to obtain a plurality of circumferences with a fixed radius, and the circumferences are sequentially connected to obtain a circumferential trajectory, and the sector region on the alveolar bone is drilled and ground by using the circumferential trajectory, and in a case where the accumulated preset step size is greater than the maximum quotient, the cavity radius of the sector region is used as a drilling and grinding boundary, and the preset step size is less than or equal to the drill needle diameter. In the embodiments of the present disclosure, according to the radius r C of the reference circular arc and the drill needle diameter D, the maximum quotient of rC / D is calculated, that is, k is obtained by rounding down, and the trajectory segment of the drill needle is obtained by traversing i∈[1, k+1] under each sector region, as shown in expression (2):

[0151] The trajectory segments obtained are sequentially connected to obtain the planned removal trajectory of the drill needle. In the circumferential motion, for example, as shown in FIG. 9, the preset step size can be selected as D, when the drill needle grinds the first circumference, that is, i=1, the circumferential radius is expanded to that is, the trajectory radius of the second circle of the drill needle is 3D / 2, and the preset step size is gradually increased until the outermost circle, that is, i=k+1=3, the case of may occur, that is, the drill needle continues to use the circumferential trajectory and will exceed the planned range, that is, the drilling and grinding boundary, and therefore r CThe radius of D / 2 completes the outermost circle of the scallop area, which ensures that the grinding does not exceed the range and all planned bone is ground.

[0152] It can be understood that the grinding path planned by the constant radius circular motion trajectory calculation mode includes internal path points and optimized path points. The internal path points are path points on the planned path in the case where the situation does not occur. The optimized path points are path points obtained by avoiding grinding the boundary and using the radius of D / 2 in the case where the situation occurs. C

[0153] According to the scheme of the embodiments of the present disclosure, by using the constant radius circular motion trajectory calculation mode, the trajectory segment along the radius direction line segment can be generated at the next step progression position, so that the connection line between the reference arc portions of each scallop area in the planned grinding trajectory can be ground more accurately.

[0154] In a possible implementation, the initial reference curve of each slice layer is processed by using a diverging circular arc motion trajectory calculation mode to generate a planned grinding trajectory of a drill needle, including: for each scallop area of each slice layer, the following operations are respectively performed: determining the radius of the diverging circular arc of the scallop area based on a preset step length and the rotation angle of the current position of the diverging circular arc trajectory in the scallop area; in the case where the radius of the diverging circular arc is less than or equal to the boundary threshold value corresponding to the scallop area, determining the grinding trajectory corresponding to the rotation angle of the current position of the diverging circular arc trajectory in the scallop area based on the radius of the diverging circular arc; the boundary threshold value is the difference between the radius of the reference arc corresponding to the scallop area and the radius of the drill needle; in the case where the radius of the diverging circular arc is greater than the boundary threshold value corresponding to the scallop area, determining the grinding trajectory corresponding to the rotation angle of the current position of the diverging circular arc trajectory in the scallop area based on the boundary threshold value; wherein the preset step length can be selected to be less than or equal to the range of drill needle diameter / 2π. In the embodiments of the present disclosure, according to the radius r C max of the reference arc with the largest radius, rmax is divided by the preset step length to calculate the maximum angle γmax that the diverging circular arc needs to rotate. The preset step length of the rotation angle γ can be selected as D / 4π, and the grinding trajectory point is planned according to the following formula (3) according to the preset step length and the rotation angle γ of the current position:

[0155] ​The ratio of the radius of the diverging circular arc motion to the angle of rotation, i.e., the preset step length, is a settable value that determines the path of the diverging circular arc, and the increased speed can be set according to actual needs. For example, as shown in FIG. 10, it can be set to one revolution of the bur, i.e., 2π angle. The circular arc radius increases from 0 to the radius of the bur, i.e., D / 2, and the preset step length is D / 4π. According to this preset step length, the rotation angle γ is gradually increased, and it is ensured that the bur can remove all the bones in the planned area according to the diverging circular arc motion. When the rotation reaches D / 4π×γ>rc-D / 2, i.e., the diverging circular arc path is removed, it will exceed the planned drill boundary, and then the bur starts to remove along the outermost boundary of the sector. By comparing the radius of the current diverging circular arc with the radius of the boundary threshold, the trajectory corresponding to the minimum value of the two is selected as the planned removal trajectory, to determine whether to follow the diverging circular arc path or the bur to follow the trajectory edge, so as to ensure that all the bones in the planned area are removed without exceeding the planned area. It can be understood that the removal path planned by the diverging circular arc motion trajectory calculation mode of the step-by-step reaming includes internal path points and optimized path points. The internal path points are the path points on the planned path when the bur is not rotated to D / 4π×γ>rc-D / 2. The optimized path points are the path points on the planned path when the bur is rotated to this condition.

[0156] According to the scheme of the embodiments of the present disclosure, by adopting the diverging circular arc motion trajectory calculation mode of step-by-step reaming, when the diverging circular arc path is removed and exceeds the actual planned area, the trajectory corresponding to the minimum value of the radius of the current diverging circular arc and the radius of the boundary threshold is selected as the planned removal trajectory, and the reference circular arc part in the planned removal trajectory is more accurately removed subsequently.

[0157] In practice, the bur planned removal trajectory is discretely distributed according to the sampling points with a predetermined sampling density ξ. Because the trajectory mostly involves a circular arc, the arc length corresponding to, for example, 1° of arc can be used as the sampling density, and the sampling points can be uniformly arranged. The trajectory schematic diagrams in FIGS. 9 and 10 are only drawn by connecting the discrete sampling points for the convenience of understanding, and are not the planned removal trajectory that can be recognized by a computer. By using these discrete sampling points, the motion control of the mechanical arm can be performed to complete the preparation of the cavity. Furthermore, for any shape of the area to be removed, the removal can also be performed in the above-mentioned manner.

[0158] In summary, based on the same technical concept, the embodiments of the present disclosure also provide a removal robot, which comprises:

[0159] A control unit is configured to control the mechanical arm to perform a removal operation on the area to be removed based on the removal path.

[0160] A mechanical arm, having a communication connection with the control unit and supporting at least one drill bit at the end, is used to perform a grinding path under the control of the control unit to perform a grinding operation on the area to be ground using the installed drill bit;

[0161] The grinding path is designed based on the boundary shape of the area to be ground to adapt to the area to be ground of any shape.

[0162] In some embodiments, as described above, the grinding path includes the following path points:

[0163] The internal path points are generated based on preset path generation rules, and the internal path points are located inside the area to be ground; and in the case that the corresponding drill bit is used at the internal path point, the boundary obtained after the grinding operation at the internal path point is still inside the area to be ground;

[0164] The optimized path points are obtained by optimizing the edge path points generated according to the preset path generation rules; wherein in the case that the corresponding drill bit is used at the edge path point, the boundary obtained after the grinding operation at the edge path point will break through the area to be ground; the position of the edge path point is optimized so that in the case that the corresponding drill bit is used at the optimized path point, the boundary obtained after the grinding operation at the optimized path point does not exceed the area to be ground, and meets the boundary shape requirements of the area to be ground at the optimized path point.

[0165] The preset path generation rules, for example, the path generation rule 1 based on the reference line sampling in the foregoing, the path generation rule 2 using the constant radius circular motion trajectory calculation mode, and the path generation rule 3 of the diverging circular arc motion trajectory calculation mode for step-by-step reaming in the foregoing.

[0166] In some embodiments, the grinding path is determined based on the shape of the drill bit used. For example, in the path generation rule 1, a number of triangular patches intersecting with the drill bit model shape need to be selected from the triangular patches of the area model surface of the area to be ground to determine the lifting height of the sampling point. For another example, the radius of the drill bit needs to be considered in the path generation rule 2 and the path generation rule 3.

[0167] In some embodiments, the path points are generated based on the preset path generation rules, including determining the reference line according to the boundary shape of the area to be ground, and planning each sampling point on the reference line to obtain the internal path points and the edge path points on the grinding path. For details, please refer to the way of generating the reference line for sampling in the path generation rule 1.

[0168] In some embodiments, the region-to-be-milled coordinate system comprises an X axis, a Y axis, and a Z axis; the X axis and the Y axis are transverse coordinate axes; the Z axis is a longitudinal coordinate axis; the sampling points are selected based on the following steps:

[0169] obtaining a Z axis value range of the region-to-be-milled in the Z axis direction;

[0170] determining the height of the reference line in the Z axis value range based on the set depth step;

[0171] determining a Y axis value range of the region-to-be-milled in the Y axis direction at the height of each reference line;

[0172] generating a plurality of reference lines in the Y axis direction based on the height of each reference line and the Y axis value range at the height of each reference line;

[0173] selecting a plurality of sampling points on each reference line based on the set sampling interval.

[0174] In some embodiments, the sampling intervals adopted for the Y axis and the Z axis are less than the diameter of the drill bit adopted. For example, the sampling intervals of the Y axis and the Z axis can be 1 / 6 of the diameter of the drill bit.

[0175] In some embodiments, the edge path points are optimized to obtain optimized path points, comprising:

[0176] constructing a drill bit model based on the morphological parameters of the drill bit adopted;

[0177] optimizing the edge path points based on the intersection of the drill bit model and the region model of the region-to-be-milled. For example, in the path generation rule 1, the drill bit is modeled, and the sampling points are corrected based on the intersection with the region model.

[0178] In some embodiments, the edge path points are optimized based on the intersection of the drill bit model and the region model of the region-to-be-milled, comprising:

[0179] determining the longitudinal lifting height of the edge path points on the reference line in the region-to-be-milled coordinate system based on the intersection of the drill bit model and the triangular facets of the region model;

[0180] updating the position of the edge path points based on the longitudinal lifting height to obtain optimized path points.

[0181] In some embodiments, the longitudinal lifting height of the edge path points on the reference line in the region-to-be-milled coordinate system is determined, comprising:

[0182] determining the initial position of the drill bit model on the edge path points on the reference line;

[0183] lifting the drill bit model from the initial position by a minimum height along the longitudinal axis direction, such that the drill bit model does not have intersecting triangular facets with the region model of the region to be removed;

[0184] the minimum height by which the drill bit model is lifted as the longitudinal lifting height of the edge path point.

[0185] In some embodiments, lifting the drill bit model from the initial position by a minimum height along the longitudinal axis direction, such that the drill bit model does not have intersecting triangular facets with the region model of the region to be removed, comprises:

[0186] filtering, by a method combining face detection, edge detection and vertex detection, a plurality of intersecting triangular facets from the triangular facets of the surface of the region model, which intersect with the shape of the drill bit model;

[0187] traversing the plurality of intersecting triangular facets, and progressively lifting the height of the drill bit model until each face, point and edge on the plurality of intersecting triangular facets is located at the boundary of the drill bit model or outside the drill bit model.

[0188] In some embodiments, generating the removal path comprises:

[0189] sequentially connecting the interior path points and the optimized path points based on the order of formation of the reference lines and the zigzag structure to obtain the removal path.

[0190] In some embodiments, the removal path is determined based on the radius of the drill bit to be used.

[0191] In some embodiments, generating the path points based on a preset path generation rule comprises:

[0192] using a constant-radius circular motion trajectory calculation mode or a step-by-step reaming diverging circular arc motion trajectory to calculate an initial reference curve of the region to be removed to obtain the interior path points and the edge path points.

[0193] In some embodiments, using a constant-radius circular motion trajectory calculation mode to calculate an initial reference curve of the region to be removed comprises:

[0194] dividing the region to be removed into a plurality of slice layers;

[0195] for each sector region of each slice layer, the following operations are performed respectively:

[0196] determining the maximum quotient between the hole radius of the sector region and the drill bit diameter;

[0197] generating a planned removal trajectory for a drill bit for the sector region based on the maximum quotient and the hole radius of the sector region;

[0198] The preset step length is gradually increased in the planning removal trajectory to obtain a plurality of circumferences with a fixed radius, and the circumferences are sequentially connected to obtain a circumference trajectory. The circumference trajectory is used to drill and grind the sector region on the alveolar bone to obtain an initial reference curve.

[0199] In some embodiments, the optimization of the edge path point to obtain an optimized path point comprises:

[0200] In the case where any segment of the boundary of the region to be removed is an equal-radius circular arc, the radius of the circular arc is subtracted by the radius of the drill bit to obtain an optimized path point on the circular arc.

[0201] In some embodiments, in the calculation mode of the circumferential motion trajectory with a fixed radius, the optimization of the edge path point can be implemented as follows: in the case where the accumulated preset step length is greater than the maximum quotient, the drilling and grinding boundary is the cavity radius of the sector region, and the preset step length is less than or equal to the diameter of the drill bit.

[0202] In some embodiments, the initial reference curve of the region to be removed is calculated by using a diverging circular arc motion trajectory with step-by-step reaming, comprising:

[0203] The region to be removed is divided into a plurality of slice layers;

[0204] For each sector region of each slice layer, the following operations are performed respectively:

[0205] Based on the preset step length and the rotation angle of the current position of the diverging circular arc trajectory in the sector region, the radius of the diverging circular arc of the sector region is determined.

[0206] In the case where the radius of the diverging circular arc is less than or equal to the boundary threshold value corresponding to the sector region, the removal trajectory corresponding to the rotation angle of the current position of the diverging circular arc trajectory in the sector region is determined based on the radius of the diverging circular arc; the boundary threshold value is the difference between the reference circular arc radius corresponding to the sector region and the radius of a drill bit, to obtain an initial reference curve.

[0207] In some embodiments, in the calculation mode of the diverging circular arc motion trajectory with step-by-step reaming, the optimization of the edge path point can be implemented as follows: in the case where the radius of the diverging circular arc is greater than the boundary threshold value corresponding to the sector region, the removal trajectory corresponding to the rotation angle of the current position of the diverging circular arc trajectory in the sector region is determined based on the boundary threshold value.

[0208] The preset step length is selected in the range of less than or equal to the diameter of the drill bit / 2π.

[0209] In some embodiments, the region to be removed is an implant cavity.

[0210] In some embodiments, the morphology of the implant cavity is determined based on the bone type in the planned implant region.

[0211] In some embodiments, different bone quality categories correspond to different level differences, and the shape of the implant cavity is determined based on the level differences of different bone quality categories.

[0212] In some embodiments, the shape of the implant cavity is determined based on the bone quality categories in each slice layer of the planned implant area.

[0213] In some embodiments, the shape of the implant cavity is determined, comprising:

[0214] The planned implant area is divided into a plurality of slice layers along the implant direction; wherein the upper and lower planes of each slice layer are perpendicular to the implant direction, and each slice layer is divided into a plurality of fan-shaped regions;

[0215] Based on the CT value data of each slice layer, the bone quality category of each fan-shaped region in each slice layer is determined;

[0216] Based on the correspondence between the bone quality category and the level difference of the implant, the level difference of each fan-shaped region in each slice layer is determined;

[0217] Based on the implant radius of each fan-shaped region in the implant and the level difference of each fan-shaped region, the cavity radius of each fan-shaped region in each slice layer is determined to obtain the shape of the implant cavity.

[0218] In some embodiments, the planned implant area is divided into a plurality of slice layers along the implant direction, comprising:

[0219] Based on the pitch of the implant, a longitudinal sampling interval along the implant direction is determined;

[0220] Based on the longitudinal sampling interval, the conical envelope of the planned implant area is divided into a plurality of conical segments along the implant direction;

[0221] For each conical segment, a target surface is selected from the conical segment, and a cylinder is constructed based on the target surface to obtain a slice layer corresponding to the conical segment;

[0222] Preferably, the target surface of the conical segment is the larger surface of the upper and lower surfaces of the conical segment.

[0223] In some embodiments, based on the CT value data of each slice layer, the bone quality category of each fan-shaped region in each slice layer is determined, comprising:

[0224] For each slice layer, the following operations are performed respectively:

[0225] From the CT image of the alveolar bone, the CT value of each point on the slice layer is obtained;

[0226] For each fan-shaped region in the slice layer, the bone quality category of the fan-shaped region is determined based on the CT value in the fan-shaped region.

[0227] In some embodiments, the implant radius of each sector region in the implant and the level difference of each sector region are determined, and the implant radius of each sector region in each slice layer is determined based on the implant radius of each sector region in the implant and the level difference of each sector region, comprising:

[0228] For each sector region, the difference between the implant radius of the sector region in the implant and the level difference of the sector region is determined to obtain the implant radius of the sector region.

[0229] In some embodiments, after the shape of the implant cavity is determined, the grinding path of the implant cavity can be determined based on the following method:

[0230] For each slice layer, the following steps are performed respectively: for each sector region in the slice layer, a reference circular arc of the sector region is established based on the implant radius of the sector region; and the reference circular arcs of each sector region in the slice layer are sequentially connected to determine an initial reference curve of the slice layer.

[0231] In the case where the variation trend of the implant radius of the same sector region in each slice layer along the implant direction is consistent, the grinding path is generated based on the initial reference curve of each slice layer.

[0232] In some embodiments, after the shape of the implant cavity is determined, the following steps are further included:

[0233] In the case where the variation trend of the implant radius of the same sector region in each slice layer along the implant direction is inconsistent, the abnormal slice layer corresponding to the same sector region is determined.

[0234] The implant radius of the same sector region in the abnormal slice layer and the corresponding initial reference curve are corrected so that the variation trend of the implant radius of the same sector region in each slice layer along the implant direction is consistent, and the step of generating the grinding path based on the initial reference curve of each slice layer in the case where the variation trend of the implant radius of the same sector region in each slice layer along the implant direction is consistent is returned to be executed.

[0235] In some embodiments, after the shape of the implant cavity is determined, the control unit is configured to control the mechanical arm to perform grinding operation on the to-be-ground region based on the grinding path, and specifically comprises:

[0236] Determine the expected position of the drill bit based on the current position, the direction of the drill bit and the target speed of the drill bit;

[0237] Obtain the path point closest to the expected position in the grinding path;

[0238] Control the drill bit to move to the closest path point and grind the to-be-ground bone block;

[0239] The edge sampling point is determined, and the edge sampling point is a point in the grinding path representing the boundary of the region to be ground.

[0240] In some embodiments, the controlling the drill bit to move towards the edge includes:

[0241] In a case where the distance between the drill bit and the edge sampling point of the grinding path is less than a preset threshold, a movement direction of the drill bit is determined based on the position of the drill bit and the position of the path point closest to the expected position calculated based on the current position of the drill bit, and the drill bit is controlled to move towards the path point closest to the expected position calculated based on the current position of the drill bit.

[0242] The bone grinding control device provided by the embodiments of the present disclosure is described below. The bone grinding control device described below can be referred to in correspondence with the bone grinding control method described above.

[0243] FIG. 11 is a structural schematic diagram of a bone grinding control device provided by an embodiment of the present disclosure. As shown in FIG. 11, the device includes a construction module 1110, a determination module 1120, an update module 1130, and a control module 1140.

[0244] The construction module is configured to construct a region model of a region to be ground of a bone block to be ground and a drill bit model of a drill bit for grinding the region to be ground.

[0245] The determination module is configured to determine a reference line according to the shape of the region model, and plan each sampling point on the reference line.

[0246] The update module is configured to determine a grinding path by using the reference line, including determining the longitudinal lifting height of each sampling point in the region to be ground coordinate system on the reference line based on the intersection of the drill bit model and the triangular facet of the region model; updating the longitudinal axis coordinate of each sampling point based on the longitudinal lifting height; and generating the grinding path based on the updated sampling points.

[0247] The control module is configured to control the drill bit corresponding to the drill bit model to grind the bone block to be ground based on the grinding path.

[0248] Specifically, according to the embodiments of the present disclosure, any multiple modules of the construction module, the determination module, the update module, and the control module can be combined in one module, or any one of the modules can be split into multiple modules.

[0249] Alternatively, at least part of the functions of one or more of the modules can be combined with at least part of the functions of the other modules and implemented in one module.

[0250] According to embodiments of the present disclosure, at least one of the constructing module, the determining module, the updating module and the controlling module can be implemented at least partially as a hardware circuit, such as a field programmable gate array, a programmable logic array, a system on chip, a system on board, a system on package, an application specific integrated circuit, or any other reasonable manner that can integrate or package a circuit, etc. in hardware or firmware, or in any one of software, hardware and firmware or in a proper combination of any of them.

[0251] Alternatively, at least one of the constructing module, the determining module, the updating module and the controlling module can be implemented at least partially as a computer program module that can perform the corresponding functions when the computer program module is run.

[0252] The bone resection control device provided by the embodiments of the present disclosure can determine the accurate position of the sampling point according to the intersection of the drill bit model, the region model and the triangular patches, by constructing the region model of the bone block to be resected and the drill bit model, and generating the resection path by connecting the sampling points, so as to control the drill bit to resect the region to be resected along the resection path, thereby achieving the automatic and accurate resection of the region to be resected of the bone block by the machine. The machine can replace the manual work, improve the resection accuracy and ensure that the final resection form of the bone block is closer to the expected resection form.

[0253] In some embodiments, the updating module is specifically configured to: determine an initial position of the drill bit model at any sampling point on the reference line; lift the drill bit model from the initial position along the longitudinal axis direction by a minimum height, so that the drill bit model does not have any intersecting triangular patch with the region model; and take the minimum height as the longitudinal lifting height of the sampling point.

[0254] In some embodiments, the lifting of the drill bit model from the initial position along the longitudinal axis direction by the minimum height, so that the drill bit model does not have any intersecting triangular patch with the region model, comprises: screening a plurality of intersecting triangular patches from the triangular patches on the surface of the region model by a method combining face detection, edge detection and vertex detection, the plurality of intersecting triangular patches intersecting with the shape of the drill bit model; and iteratively lifting the height of the drill bit model until each face, point and edge on the intersecting triangular patches is located on the boundary of the drill bit model or outside the drill bit model.

[0255] In some embodiments, during the process of grinding the bone block to be ground by the drill bit, the method further comprises: determining an expected position of the drill bit based on the current position of the drill bit, the orientation of the drill bit, and the target speed; obtaining a sampling point closest to the expected position in the grinding path; and controlling the drill bit to move to the closest sampling point to grind the bone block to be ground; wherein the edge sampling point is a sampling point obtained by lifting the sampling point where the reference line intersects the region model; in the case that the sampling point closest to the expected position calculated based on the current position of the drill bit is between the current position of the drill bit and the edge sampling point, the motion direction of the drill bit is determined based on the current position of the drill bit and the position of the edge sampling point, and the drill bit is controlled to move towards the edge sampling point.

[0256] In some embodiments, the control of the drill bit to move towards the edge sampling point comprises: in the case that the distance between the drill bit and the edge sampling point is less than a preset threshold, the motion direction of the drill bit is determined based on the current position of the drill bit and the position of the sampling point closest to the expected position calculated based on the current position of the drill bit, and the drill bit is controlled to move to the sampling point closest to the expected position calculated based on the current position of the drill bit.

[0257] In some embodiments, the coordinate system of the region to be ground comprises an X axis, a Y axis, and a Z axis; the X axis and the Y axis are transverse coordinate axes; and the Z axis is a longitudinal coordinate axis; the sampling points are selected based on the following steps: obtaining the Z axis value range of the region to be ground in the Z axis direction; determining the height of the reference line in the Z axis value range based on a set depth step; determining the Y axis value range of the region to be ground in the Y axis direction at each grinding height; generating a plurality of reference lines in the Y axis direction based on the height of each reference line and the Y axis value range at each reference line height; and selecting a plurality of sampling points on each reference line based on a set sampling interval.

[0258] In some embodiments, the update module is specifically configured to: update each reference line based on the updated sampling points; and sequentially connect the corrected reference lines based on the order of forming the reference lines and the zigzag structure to obtain the grinding path.

[0259] It should be noted that the bone grinding control device provided by the embodiments of the present disclosure can realize all the method steps achieved by the bone grinding control method embodiments, and achieve the same technical effects. Therefore, the same parts and beneficial effects of the method embodiments will not be described in detail herein.

[0260] Based on the same inventive concept, the present disclosure also provides a data processing device for implanting a cavity on alveolar bone, as shown in FIG. 12, which comprises:

[0261] The acquisition module 1201 is configured to acquire a planned implantation region of an implant in alveolar bone.

[0262] The segmentation module 1202 is configured to segment the planned implant area along the implant direction into a plurality of slice layers, wherein the upper and lower planes of each slice layer are perpendicular to the implant direction, and each slice layer is divided into a plurality of fan-shaped body regions;

[0263] The bone quality determination module 1203 is configured to determine the bone quality of each fan-shaped body region in each slice layer based on the CT value data of the slice layer.

[0264] The level difference determination module 1204 is configured to determine the level difference of each fan-shaped body region in each slice layer based on the corresponding relationship between the bone quality and the level difference of the implant.

[0265] The parameter determination module 1205 is configured to determine the cavity radius of each fan-shaped body region in each slice layer based on the implant radius of each fan-shaped body region in the implant and the level difference of each fan-shaped body region, wherein the cavity radius supports the preparation of the cavity based on one drill needle.

[0266] In some embodiments, the segmentation module comprises:

[0267] The sampling interval determination unit is configured to determine a longitudinal sampling interval along the implant direction based on the pitch of the implant.

[0268] The segmentation unit is configured to segment the conical envelope of the planned implant area along the implant direction into a plurality of conical segments based on the longitudinal sampling interval.

[0269] For each conical segment, a target surface is selected from the conical segment, a cylinder is constructed based on the target surface, and a slice layer corresponding to the conical segment is obtained.

[0270] Preferably, the target surface of the conical segment is the larger surface of the upper and lower surfaces of the conical segment.

[0271] In some embodiments, the bone quality determination module is specifically configured to, for each slice layer, perform the following operations: obtaining the CT value of each point on the slice layer from the CT image of the alveolar bone; and determining the bone quality of each fan-shaped body region in the slice layer based on the CT value in the fan-shaped body region.

[0272] In some embodiments, the parameter determination module is specifically configured to: for each fan-shaped body region, determine the difference between the implant radius of the fan-shaped body region in the implant and the level difference of the fan-shaped body region, to obtain the cavity radius of the fan-shaped body region.

[0273] In some embodiments, the method further comprises:

[0274] The curve determination module is configured to perform the following for each slice layer: for each sector region in the slice layer, establishing a reference circular arc of the sector region based on a preparation hole radius of the sector region; and connecting the reference circular arcs of the sector regions in the slice layer in sequence to determine an initial reference curve of the slice layer.

[0275] The trajectory generation module is configured to generate a planned drilling trajectory of a drill bit based on the initial reference curves of the slice layers in a case where the variation trends of the preparation hole radii of the same sector region in the slice layers along the planting direction are consistent.

[0276] In some embodiments, the method further comprises:

[0277] The anomaly identification module is configured to determine an abnormal slice layer corresponding to the same sector region in a case where the variation trends of the preparation hole radii of the same sector region in the slice layers along the planting direction are inconsistent.

[0278] The optimization module is configured to correct the preparation hole radius of the same sector region in the abnormal slice layer and the corresponding initial reference curve, so that the variation trends of the preparation hole radii of the same sector region in the slice layers along the planting direction are consistent, and trigger the trajectory generation module to return to execute the step of generating the planned drilling trajectory of the drill bit based on the initial reference curves of the slice layers in a case where the variation trends of the preparation hole radii of the same sector region in the slice layers along the planting direction are consistent.

[0279] In some embodiments, the trajectory generation module is specifically configured to: process the initial reference curves of the slice layers by using a constant-radius circular motion trajectory calculation mode or a step-by-step reaming divergent circular arc motion trajectory calculation mode to generate the planned drilling trajectory of the drill bit.

[0280] In some embodiments, the trajectory generation module is specifically configured to: process the initial reference curves of the slice layers by using a constant-radius circular motion trajectory calculation mode to generate the planned drilling trajectory of the drill bit, and for each sector region of each slice layer, the trajectory generation module is specifically configured to perform the following operations: determining a maximum quotient between a preparation hole radius of the sector region and a drill bit diameter; and generating the planned drilling trajectory of the drill bit for the sector region based on the maximum quotient and the preparation hole radius of the sector region; wherein in the planned drilling trajectory, the circular radius of the planned drilling trajectory is gradually increased by a preset step size to obtain a plurality of constant-radius circles, and the constant-radius circles are sequentially connected to obtain a circular trajectory, and the sector region on the alveolar bone is drilled and ground by using the circular trajectory, and in a case where the accumulated preset step size is greater than the maximum quotient, the preparation hole radius of the sector region is used as a drilling boundary, and the preset step size is less than the drill bit diameter.

[0281] In some embodiments, the initial reference curve of each slice layer is processed by adopting a diverging circular arc motion trajectory calculation mode with step-by-step reaming to generate a planned ablation trajectory of the drill needle. The trajectory generation module is specifically configured to: for each sector region of each slice layer, determine a radius of a diverging circular arc of the sector region based on a preset step length and a rotation angle of a current position of the diverging circular arc trajectory in the sector region; in a case where the radius of the diverging circular arc is less than or equal to a boundary threshold corresponding to the sector region, determine an ablation trajectory corresponding to the rotation angle of the current position of the diverging circular arc trajectory in the sector region based on the radius of the diverging circular arc; the boundary threshold is a difference between a reference circular arc radius corresponding to the sector region and a radius of the drill needle; in a case where the radius of the diverging circular arc is greater than the boundary threshold corresponding to the sector region, determine the ablation trajectory corresponding to the rotation angle of the current position of the diverging circular arc trajectory in the sector region based on the boundary threshold; and the preset step length can be selected to be less than or equal to a range of the drill needle diameter / 2π.

[0282] FIG. 13 is a structural schematic diagram of an electronic device provided by an embodiment of the present disclosure. As shown in FIG. 13, the electronic device can include a processor 1310, a communications interface 1320, a memory 1330, and a communications bus 1340. The processor 1310, the communications interface 1320, and the memory 1330 can complete mutual communication through the communications bus 1340. The processor 1310 can invoke a logical command in the memory 1330 to execute the above method.

[0283] In addition, the logical command in the memory described above can be implemented in the form of a software function module and sold or used as a stand-alone product, and can be stored in a computer-readable storage medium. Based on such an understanding, the technical solutions of the present disclosure essentially or in part, or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes several commands for making a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present disclosure. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and various other media capable of storing program codes.

[0284] The processor in the electronic device provided by the embodiments of the present disclosure can invoke the logical instructions in the memory to implement the above method, the specific implementation manners of which are consistent with the foregoing method implementation manners, and the same beneficial effects can be achieved, which will not be described here.

[0285] The embodiments of the present disclosure also provide a non-transitory computer-readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the method provided by the above embodiments. The specific implementation manners are consistent with the foregoing method implementation manners, and the same beneficial effects can be achieved, which will not be described here.

[0286] The embodiments of the present disclosure provide a computer program product, which includes a computer program. The computer program is executed by a processor to implement the above method.

[0287] The device embodiments described above are only schematic, wherein the modules described as separate components can or can not be physically separate, and the components shown as modules can or can not be physical modules, that is, they can be located in one place or distributed on multiple network modules. Part or all of the modules can be selected to achieve the purpose of the present embodiment scheme according to actual needs. Those skilled in the art can understand and implement it without creative labor.

[0288] Through the description of the above embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software and the necessary general hardware platform, and of course, they can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of software products, which can be stored in a computer readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and include a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0289] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A bone ablation control method, comprising: constructing a region model of an ablation region of a bone block to be ablated and a drill bit model of a drill bit to ablate the ablation region; determining a reference line according to a shape of the region model and planning sampling points on the reference line; determining an ablation path by the reference line, including determining a longitudinal lifting height of each sampling point on the reference line in an ablation region coordinate system based on an intersection of the drill bit model and a triangular facet of the region model, updating a longitudinal axis coordinate of each sampling point based on the longitudinal lifting height, and generating the ablation path based on the updated sampling points; controlling the drill bit corresponding to the drill bit model to ablate the bone block to be ablated based on the ablation path.

2. The bone resection control method of claim 1, wherein, The determining of the longitudinal lifting height of each sampling point on the reference line in the ablation region coordinate system comprises: determining an initial position of the drill bit model at any sampling point on the reference line; lifting the drill bit model from the initial position by a minimum height along the longitudinal axis direction so that the drill bit model does not have an intersecting triangular facet with the region model; taking the minimum height of the drill bit model as the longitudinal lifting height of the any sampling point.

3. The bone resection control method of claim 2, wherein, The lifting of the drill bit model from the initial position by the minimum height along the longitudinal axis direction so that the drill bit model does not have an intersecting triangular facet with the region model comprises: screening a plurality of intersecting triangular facets from the triangular facets of the region model surface by a method combining face detection, edge detection and vertex detection, the plurality of intersecting triangular facets intersecting with the shape of the drill bit model; traversing the intersecting triangular facets and progressively lifting the height of the drill bit model until each face, point and edge on the intersecting triangular facets is located on the boundary of the drill bit model or outside the drill bit model.

4. The bone resection control method of claim 1, wherein, In the process of ablation of the bone block to be ablated by the drill bit, the method further comprises: determining an expected position of the drill bit based on a current position, a drill bit orientation and a target speed of the drill bit; acquiring a sampling point closest to the expected position in the ablation path; controlling the drill bit to move to the closest sampling point and ablate the bone block to be ablated. Wherein, the edge sampling point is a sampling point obtained by lifting the sampling point where the reference line intersects with the region model; in the case that the sampling point closest to the expected position calculated based on the current position of the drill bit includes the edge sampling point, the motion direction of the drill bit is determined based on the current position of the drill bit and the position of the edge sampling point, and the drill bit is controlled to move towards the edge sampling point.

5. The bone resection control method of claim 1, wherein, The ablation region coordinate system comprises an X axis, a Y axis and a Z axis; the X axis and the Y axis are transverse coordinate axes; and the Z axis is a longitudinal coordinate axis. The sampling points are selected based on the following steps: acquiring a Z axis value range of the ablation region in the Z axis direction; determining the height of the reference line in the Z axis value range based on a set depth step; determining a Y axis value range of the ablation region in the Y axis direction at the height of each reference line; and generating a plurality of reference lines in the Y-axis direction based on the height of each reference line and the Y-axis value range at the height of each reference line; selecting a plurality of sampling points on each reference line based on the set sampling interval.

6. A preparation parameter processing method for implanting a socket hole on alveolar bone, comprising: obtaining a planned implanting area of an implant in alveolar bone; dividing the planned implanting area into a plurality of slice layers along an implanting direction, wherein the upper and lower planes of each slice layer are perpendicular to the implanting direction, and each slice layer is divided into a plurality of fan-shaped body regions; determining a bone quality category of each fan-shaped body region in each slice layer based on CT value data of each slice layer; determining a level difference of each fan-shaped body region in each slice layer based on a corresponding relationship between the bone quality category and the level difference of the implant; determining a socket hole radius of each fan-shaped body region in each slice layer based on the implant radius of each fan-shaped body region in the implant and the level difference of each fan-shaped body region, wherein the socket hole radius supports the preparation of a socket hole based on a drill bit.

7. The method of claim 6, wherein, The dividing of the planned implanting area into a plurality of slice layers along the implanting direction comprises: determining a longitudinal sampling interval along the implanting direction based on the pitch of the implant; dividing a cone envelope of the planned implanting area into a plurality of cone segments along the implanting direction based on the longitudinal sampling interval; for each cone segment, selecting a target surface from the cone segment, and constructing a cylinder based on the target surface to obtain a slice layer corresponding to the cone segment; wherein the target surface of the cone segment is preferably a larger surface of the upper and lower surfaces of the cone segment.

8. The method of claim 6, wherein, The determination of the socket hole radius of each fan-shaped body region in each slice layer based on the implant radius of each fan-shaped body region in the implant and the level difference of each fan-shaped body region comprises: for each fan-shaped body region, determining a difference value between the implant radius of the fan-shaped body region in the implant and the level difference of the fan-shaped body region to obtain the socket hole radius of the fan-shaped body region.

9. The method of claim 6, further comprising: for each slice layer, respectively performing: for each fan-shaped body region in the slice layer, establishing a reference arc of the fan-shaped body region based on the socket hole radius of the fan-shaped body region; and sequentially connecting the reference arcs of each fan-shaped body region in the slice layer to determine an initial reference curve of the slice layer; in a case where the variation trend of the socket hole radius of a same fan-shaped body region in each slice layer along the implanting direction is consistent, generating a planned grinding track of a drill bit based on the initial reference curves of each slice layer.

10. The method of claim 13, further comprising: in a case where the variation trend of the socket hole radius of a same fan-shaped body region in each slice layer along the implanting direction is inconsistent, determining an abnormal slice layer corresponding to the same fan-shaped body region. correcting the hole radii of the same sector region in the abnormal slice layer and the corresponding initial reference curve, so that the variation trend of the hole radii of the same sector region in each slice layer along the planting direction is consistent, and returning to perform the step of generating a planned abrading track of a drill bit based on the initial reference curve of each slice layer in the case that the variation trend of the hole radii of the same sector region in each slice layer along the planting direction is consistent.

11. An abrading robot, comprising: a control unit configured to control a mechanical arm to perform an abrading operation on a region to be abraded based on an abrading path; the mechanical arm having a communication connection with the control unit and supporting at least one drill bit at an end thereof, and being configured to perform the abrading path under the control of the control unit to perform the abrading operation on the region to be abraded using the installed drill bit; wherein the abrading path is designed based on a boundary shape of the region to be abraded to adapt to a region to be abraded of any shape.

12. The ablation robot of claim 11, wherein, The abrading path comprises the following path points: internal path points generated based on a preset path generation rule, the internal path points being located inside the region to be abraded, and in the case that a corresponding drill bit is used at the internal path points, a boundary obtained after performing an abrading operation at the internal path points is still located inside the region to be abraded; optimized path points obtained after optimization processing of edge path points generated according to the preset path generation rule; wherein in the case that a corresponding drill bit is used at the edge path points, a boundary obtained after performing an abrading operation at the edge path points will break through the region to be abraded; the position of the edge path points is optimized so that in the case that a corresponding drill bit is used at the optimized path points, a boundary obtained after performing an abrading operation at the optimized path points does not exceed the region to be abraded, and meets the boundary shape requirement of the region to be abraded at the optimized path points.

13. The ablation robot of claim 12, wherein, Generating path points based on a preset path generation rule comprises: determining a reference line according to the boundary shape of the region to be abraded, and planning each sampling point on the reference line to obtain the internal path points and the edge path points on the abrading path.

14. The ablation robot of claim 12, wherein, Generating path points based on a preset path generation rule comprises: calculating an initial reference curve of the region to be abraded using a constant-radius circular motion trajectory calculation mode or a step-by-step reaming divergent circular arc motion trajectory calculation mode to obtain the internal path points and the edge path points.

15. The ablation robot of claim 11, wherein, The region to be abraded is a planting cavity.

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