WO2018191903A1 - Dental implantation robot system and operating method therefor - Google Patents

Abstract

A dental implantation robot system and an operating method therefor, applicable to the technical field of medicine. The dental implantation robot system comprises a prosthesis reservation system (1) used for automatically scanning for data about a target tooth to be restored and automatically making a dental prosthesis (14) according to the scanned data, and a prosthesis implantation system used for automatically implanting the dental prosthesis (14) into a position where the dental prosthesis is to be implanted; the prosthesis reservation system (1) comprises a data scanning device and a prosthesis preparation device; the prosthesis preparation device and the prosthesis implantation system are both electrically connected to the data scanning device. The operating method uses the dental implantation robot system, and comprises a preparation step (S1) and an implantation step (S2). The dental implantation robot system and the operating method therefor have high intelligence, feature high preparation and implantation precisions of the prosthesis (14), ensure the success rate of dental restoration, also reduce labor costs of doctors, and improve the efficiency of dental restoration.

Description

 Title of Invention: Implanted Dental Robot System and Method of Operation

 [0001] The present invention belongs to the technical field of medicine, and in particular, to an implanted robot system and an operation method thereof.

 Background technique

 [0002] In the restoration of teeth, the preparation of the implant for the implant is an important part. In the clinical prosthetic preparation, it is difficult to accurately prepare the prosthesis by the doctor's observation, and accurate prosthetic preparation is an important prerequisite for successful repair treatment. However, the preparation of the restoration by hand has its limitations. Because in the narrow space of the mouth, it is difficult for the doctor to accurately control the preparation quality of the prosthesis due to human visual deviation, blind spot, human error, etc., and in fact, it is almost impossible for the average person to fully meet the textbook and clinical practice specifications. In the process of clinical dental implants, the preparation direction, angle and depth of implant holes are closely related to planting success. Moreover, although the preparation of the cave implants in the clinic is also carried out using a planter for machine preparation, it still relies on the "doctor's hand" to operate, and the error is large.

 technical problem

 [0003] The object of the present invention is to overcome the above deficiencies of the prior art, and provide an implanted robot system and an operation method thereof, which have high intelligence degree, good preparation and planting precision of the prosthesis, and ensure the success of dental restoration. The rate, peers also save the doctor's labor costs and improve the efficiency of dental restoration. Problem solution

 Technical solution

 The present invention is achieved by: an implant robot system comprising a prosthetic preparation system for automatically scanning target tooth data to be repaired, and automatically preparing a dental prosthesis based on the scan data, and for using the dental prosthesis a prosthesis implant system automatically implanted into a site to be implanted, the prosthetic preparation system comprising a data scanning device and a prosthetic preparation device, the prosthesis preparation device and the prosthesis implant system both The data scanning device is electrically connected.

[0005] Specifically, the data scanning device includes a scanner for scanning a position of the target tooth and a positioner for positioning the target tooth, the scanner and the restoration preparation device connection. [0006] Specifically, the prosthesis preparation device includes a cutting robot, a laser generator, and a light guiding arm, the light guiding arm is rotatably coupled to the laser generator, and the cutting robot is disposed on the light guiding arm on.

[0007] Specifically, the shape of the dental restoration is the same as the shape of the target tooth.

 [0008] Specifically, the dental restoration includes an implant, a base, and a full crown restoration, the implant is disposed in a portion to be implanted in the oral cavity, and the base is connected in the implant, the whole A crown restoration is attached to the end of the abutment.

 Specifically, the prosthetic implant system includes a planting arm and a planting robot for controlling the movement of the planting arm, the planting arm having a gripping hand for gripping the dental prosthesis.

[0010] The present invention also provides an operation method of an implanted robotic system, which employs the above-described implanted robotic system, comprising the following steps:

 [0011] a preparation step comprising: performing scanning of the target tooth data by a prosthetic preparation system and performing preparation of the dental restoration according to scan data;

 [0012] Implantation step: The prepared dental restoration is implanted into the oral cavity to be implanted by the prosthetic implant system.

 [0013] Specifically, the scanning of the target tooth data includes scanning by a scanner in the prosthesis preparation system, acquiring a position of the target tooth, and then placing a locator in the prosthetic preparation system On the target tooth, three-dimensional data of the target tooth and the locator are obtained.

 [0014] Specifically, the preparation of the dental restoration includes the cutting robot in the restoration implant system, according to the design of the system and the planning of the path, controlling the laser generator to perform tooth processing, and then obtaining the dental restoration body.

 [0015] Specifically, the specific operation of the implanting step is: the planting robot in the prosthesis implant system is controlled according to the scan data of the data scanning device, and the implant arm is operated to the dental prosthesis Implanted into the area to be implanted in the oral cavity to complete the planting of the dental restoration.

 Advantageous effects of the invention

 Beneficial effect

[0016] The present invention provides an implanted dental robot system and an operating method thereof. After the dental restoration, the target tooth is scanned by the prosthetic preparation system to obtain shape and position information, and automatically designed according to the scanned data information. And the preparation of the dental restoration ensures the accuracy of the preparation of the dental restoration. Peer, The prosthetic implant system automatically performs the implantation of the dental prosthesis, which has good planting accuracy and high efficiency, and saves the labor cost of the doctor. The invention realizes the full automation, intelligence and machine of the dental restoration by adopting the comprehensive application of the digital data acquisition, the artificial intelligence technology and the robot assisted clinical treatment technology, and compensates for various problems brought by the current manual implanting teeth, and improves the teeth. Repair work efficiency and quality

, practicality.

 Brief description of the drawing

 DRAWINGS

 1 is a schematic diagram of a prosthesis preparation system in an implanted robotic system according to an embodiment of the present invention; [0018] FIG. 2 is a schematic structural view of a dental prosthesis in an implanted robotic system according to an embodiment of the present invention; 3 is a schematic diagram of an operation flow of a prosthesis implant system in an implanted robotic system according to an embodiment of the present invention.

Embodiments of the invention

 The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

 [0021] The specific implementation of the present invention is described in detail below with reference to specific embodiments:

[0022] As shown in FIG. 1 , an implant robot system provided in an embodiment of the present invention is used for automatically repairing a tooth decay, thereby ensuring the quality of tooth restoration and reducing the quality of repair existing by manual repair operation. Poor, inefficient, and the doctor's labor intensity is high. The implant robot system includes a prosthesis preparation system 1 for automatically scanning data of a target tooth to be repaired, and automatically preparing a dental prosthesis 14 based on the obtained scan data, and for automatically implanting the dental prosthesis 14 to a prosthetic implant system (not shown) to be implanted, the prosthesis preparation system 1 includes a data scanning device (not shown) and a prosthetic preparation device (not shown), the prosthetic preparation device Both the implant and the implant system are electrically connected to the data scanning device. Through such a setting. After performing the dental restoration treatment, the data scanning device is used to scan and acquire the shape of the target tooth, the specific position in the oral cavity, and the like, and then the tooth restoration 14 is designed according to the scanned data information, and then the restoration is passed through the restoration. The device is prepared to automate the preparation of the dental restoration 14. The prosthetic preparation device can be CAM (computer Aided) Manufacturing, meaning in Chinese: Computer-aided manufacturing)) Devices such as devices or 3D printers that rely on computers for manufacturing. After the preparation of the dental restoration 14 is completed, the dental prosthesis 14 is implanted by the prosthetic implant system, that is, the prosthetic implant system obtains the position coordinate information of the target tooth according to the data scanning device, and then the corresponding requirements are met. The dental restoration 14 is automatically planted into the site to be repaired in the oral cavity, and the implantation of the dental restoration 14 is completed, thereby realizing the restoration of the tooth. The implantation of the dental prosthesis 14 by the prosthetic implant system is not only accurate and high, but also can satisfy the automatic implantation of the dental prosthesis 14 of different shapes, and overcomes the artificial method in the repair of the special-shaped dental prosthesis. Repair defects, repair a wide range of applications.

[0023] The implanted robot system provided in the embodiment of the present invention performs data scanning of the target tooth by using a data scanning device, and then the prosthetic preparation device performs automatic preparation of the dental prosthesis 14 according to the data information obtained by the scanning. , to ensure the accuracy and efficiency of the preparation of the dental restoration 14. The automatic implantation of the dental prosthesis 14 is carried out by the prosthetic implant system, and the planting accuracy is high. This method of repairing teeth by means of digitization and automation, the preparation of the dental prosthesis 14 is not only accurate and efficient, but also enables the preparation of the shaped prosthesis 14 according to any personalized data, overcoming the artificial The preparation method has the defects of poor preparation precision and low efficiency. Moreover, the automatic implantation of the dental prosthesis 14 by using the prosthetic implant system not only ensures the accuracy of the planting position, but also accurately controls the strength of the planting, improves the comfort of the patient during the tooth repair process, and overcomes the labor. The repair defects that exist in the operation are poor in planting accuracy and the strength control is not suitable.

[0024] Specifically, as shown in FIG. 1, in the embodiment of the present invention, the data scanning device includes a scanner 121 for scanning a position of a target tooth and a positioner for positioning a target tooth (not shown) The scanner 121 is electrically connected to the prosthetic preparation device. The locator is a separate component that can transmit data wirelessly or through data lines. In this way, the scanner 121 is used to obtain the position of the target tooth in the oral cavity, and then the positioner is positioned on the target tooth (the tooth to be repaired), so as to accurately locate the position to be repaired, and then the target tooth and the positioner. The coordinates are matched, the coordinates of the two are integrated in the same coordinate system, and then the three-dimensional data of the target tooth and the positioner is generated by the scanner 121, and the two three-dimensional data are registered, and then the restoration preparation device is used in the current industry. The standard of repair is to carry out the shape design and path planning of the dental restoration 14 to finally achieve the corresponding dental repair. The automatic preparation of the complex 14 has good preparation accuracy. Moreover, according to the control of the system, the design and preparation of the dental restoration 14 can be performed simultaneously, and the preparation efficiency is high.

 Specifically, as shown in FIG. 1, the prosthetic preparation device for the preparation of the dental prosthesis 14 may be a 3D printer or a numerically controlled machine or the like which can be precisely processed according to the control of the computer system. In the embodiment of the present invention, the laser processing method is adopted. Therefore, the dental prosthesis 14 preparing device includes a cutting robot 131, a laser generator 132 and a light guiding arm 133, and the light guiding arm 133 is rotatably connected to the laser generator 132. The cutting robot 131 is disposed on the light guiding arm 133. Thus, the laser generator 132 is controlled by the cutting robot 131 to generate laser light, and the function of accurately preparing the dental restoration 14 can be realized by the transmission of the light guiding arm 133 and the fluctuation of the processing position. The material used for preparing the dental restoration 14 may be ceramic or special metal (pure titanium or titanium alloy), etc., and the material selection may be selected according to the requirements of the patient and the repairing of the teeth, and the repairing method is flexible. The laser for processing is a femtosecond laser, and the laser generator 132 is a femtosecond laser generator 132.

 [0026] Specifically, the shape obtained by the preparation of the dental restoration 14 according to the scan data needs to be the same as the shape of the target tooth, so as to ensure a good fit with other surrounding teeth after planting, and does not interfere with each other. Make the teeth perform their functions well. Of course, it is understandable that, according to the industry standard of dental restoration technology, when the shape of the target tooth has defects, after the data scan is completed, the defect of the tooth can be automatically compensated according to the industry standard for the shape of the tooth, so that the The dental restoration 14 obtained after preparation meets the requirements in shape and improves the health of the patient's teeth.

Specifically, as shown in FIGS. 1 and 2, in order to satisfy the normal use function of the teeth, in the embodiment of the present invention, the dental restoration 14 includes the implant 141, the base 142, and the full crown restoration 143. The implant 141 is disposed in a portion to be implanted in the oral cavity, the base 142 is coupled to the implant 141, and the full crown restoration 143 is attached to the end of the base 142. Thus, in the actual implantation process, the implant 141 is first implanted into the alveolar bone by minimally invasive surgery, and after the implant 141 is combined with the bone forming bone through a period of time, the abutment 142 is then attached to the implant 141. Above, and observing the degree of fit of the base 142 and the tooth piece, after the fit degree meets the requirements, the full crown restoration 143 is attached to the base 142 to achieve the same function and aesthetics as the natural tooth. In the actual operation, the implant 141 is implanted into the alveolar bone through the prosthetic implant system. The implant torque is generally controlled within the range of 30-50 N*cm, ensuring comfort during implantation. Moreover, in order to ensure the stability of the planting, the outer surface of the implant 141 is set to a threaded structure, thereby being able to enlarge the alveolar bone The area of contact ensures stability after planting. Similarly, the base 142 and the implant 141 can also be connected by a threaded structure, that is, a threaded hole is disposed in the implant 141, and then one end of the base 142 is provided with an external thread, and the two are matched by a thread. Connection, good stability. The connection between the other end of the base 142 and the full crown restoration 143 may be a threaded manner or a trapezoidal 榫卯 structure for connection, and the connection is stable and reliable.

[0028] Specifically, in the embodiment of the present invention, the prosthesis implant system includes a planting arm (not shown) and a planting robot (not shown) for controlling the movement of the planting arm, the planting arm has A gripping hand for holding the dental restoration 14. In this way, during the planting process, the planting robot issues a control command according to the data information to make the planting arm work, and the gripping hand on the gripper grips the dental prosthesis 14, and then continues to move to the site to be planted, The dental restoration 14 is automatically planted at an accurate position to achieve automated planting.

 [0029] In the embodiment of the present invention, an operation method of the implanted robotic system is further provided, and the implanted robotic system described above is adopted, comprising the following steps:

 [0030] Preparation step S1: comprising scanning the target tooth data by the prosthesis preparation system S11 and preparing the dental restoration according to the scan data S12. That is, the data acquisition of the target tooth and the preparation of the dental restoration 14 are realized by the prosthesis preparation system 1, so that the qualified dental prosthesis 14 can be obtained for the subsequent dental implant restoration operation.

 [0031] Implantation step S2: The prepared dental restoration 14 is implanted into the site to be planted by the prosthetic implant system, and the automatic restoration of the dental restoration 14 is realized, ensuring the precision and efficiency of the planting.

 [0032] Specifically, the scan SI 1 of the target tooth data includes scanning by the scanner 121 in the prosthesis preparation system 1 to acquire the position of the target tooth, and then placing the positioner in the prosthetic preparation system 1 on the target tooth. The three-dimensional data of the target tooth and the positioner is then scanned by the scanner 121, and the two three-dimensional data are integrated and registered to provide data support for the subsequent preparation of the dental restoration 14.

[0033] Specifically, the preparation S12 of the dental restoration includes the cutting robot 131 in the restoration implant system, according to the design of the system and the planning of the processing path, controls the laser generator 132 to perform tooth processing, and then obtains the dental restoration 14. The process in which the cutting robot 131 controls the laser generator 132 to perform the tooth processing is performed on the basis of the scanned data, thereby ensuring the accuracy of the processing to obtain the dental restoration 14. Moreover, the processing efficiency is high by laser processing. And, through laser processing, various shaped teeth can be realized. The dental prosthesis 14 is processed and prepared to meet the needs of dental restoration in different situations.

 [0034] Specifically, in the actual operation process, when it is required to repair the deformed tooth, the preparation of the shaped implant cavity is required to meet the implantation of the corresponding shape of the dental restoration body 14. That is, the cutting robot 131 can accurately prepare and form a personalized implant cavity according to any personalized root data or profile data to meet the planting needs of different shapes of teeth, and make the diameter of the actual implant cavity slightly smaller than the design flaw size. , thus ensuring the stability of the planting. The cutting robot 131 uses a femtosecond laser to prepare the implant cavity, which has the advantages of low heat conduction and no thermal damage to surrounding tissue cells. In addition, the automated implant technology of the implant implant system needs to be explored in terms of feasibility, temperature in the operating area, bleeding in the operation area, and accuracy of implant cavity preparation. However, the automatic implanting technique of the prosthesis provided in the embodiment of the invention can realize the automatic implant cavity preparation, and the temperature in the operation area is about 60 degrees Celsius, and the influence of the bleeding volume in the operation area is small and the reliability is good.

 [0035] Specifically, the specific operation of the implantation step is: the implanting robot in the prosthetic implant system controls according to the scan data of the data scanning device, determines the position S21 to be planted, and then operates the implant arm to repair the teeth. The body 14 is implanted into the site to be implanted in the oral cavity, and the planting of the dental restoration 14 is completed S22. Moreover, in the actual operation process, the implant 141 is first implanted into the alveolar bone by minimally invasive surgery, and after a period of time, the implant 141 is combined with the bone forming bone to form a pre-planting foundation, and then The base 142 is attached to the implant 141, and the degree of fit of the base 142 to the tooth member is observed. After the fit meets the requirements, the full crown restoration 143 is attached to the base 142 to realize the natural tooth. The same function and aesthetics, to achieve the purpose of dental restoration.

 The operation method of the implanted robot system provided in the embodiment of the present invention, by which the robot can be used to replace the doctor to complete the preparation of the dental restoration 14 and the repair process of the intraoral implant. Automating the entire repair process not only improves the accuracy and efficiency of the preparation of the dental prosthesis 14, but also improves the accuracy of the dental prosthesis. The invention realizes the full automation, intelligence and machine of the dental restoration treatment through the comprehensive application of CAD/CAM/3D printing technology, digital data acquisition, artificial intelligence technology and robot-assisted clinical treatment technology, and compensates for the current manual dental implants. Various problems, reliable and convenient.

The above description is only the preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalents, and improvements made within the spirit and scope of the present invention should be included in the present invention. Invention insurance Within the scope of protection.

Claims

Claim  [Claim 1] An implant robot system, comprising: a prosthetic preparation system for automatically scanning target tooth data to be repaired, and automatically preparing a dental prosthesis based on the scan data, and for repairing the dental restoration The body is automatically implanted into the prosthesis implantation system of the site to be implanted, the prosthesis preparation system comprising a data scanning device and a prosthesis preparation device, the prosthesis preparation device and the prosthesis implantation system both with the data The scanning device is electrically connected.  [Claim 2] The implant robot system according to claim 1, wherein the data scanning device includes a scanner for scanning for acquiring the target tooth position and for positioning the target tooth position a locator, the scanner being electrically connected to the prosthetic preparation device.  [Claim 3] The implant robot system according to claim 2, wherein the prosthesis preparation device includes a cutting robot, a laser generator, and a light guiding arm, and the light guiding arm is rotatably coupled to the On the laser generator, the cutting robot is disposed on the light guiding arm.  [Claim 4] The implant robot system according to claim 2, wherein the shape of the dental restoration is the same as the shape of the target tooth.  [Claim 5] The implant robot system according to any one of claims 1 to 4, wherein the dental restoration comprises an implant, a base, and a full crown restoration, the implant setting In the portion of the oral cavity to be planted, the abutment is attached to the implant, and the full crown restoration is attached to the end of the abutment.  The implant robot system according to any one of claims 5 to 5, wherein the prosthesis implant system includes a planting arm and a planting robot for controlling movement of the planting arm, The implant arm has a gripping hand for gripping the dental restoration.  [Claim 7] The method of operating a dental implant robot, characterized in that the implant robot system according to any one of claims 1 to 6 comprises the following steps:  Preparing steps: comprising performing scanning of the target tooth data by a prosthetic preparation system and preparing the dental restoration according to the scan data;  Implantation step: The prepared dental restoration is implanted into the oral cavity to be implanted by the prosthetic implantation system. [Claim 8] The method of operating an implant robot system according to claim 7, wherein Scanning of the target tooth data includes scanning through a scanner in the prosthetic preparation system to obtain a position of the target tooth, and then placing a positioner in the prosthetic preparation system on the target tooth to obtain Three-dimensional data of the target tooth and the locator.  [Claim 9] The method of operating an implant robot system according to claim 7, wherein the preparation of the dental restoration includes a design and a path of a cutting robot in the restoration implant system according to the system Planning, controlling the laser generator for tooth processing, and then obtaining the dental restoration.  The operation method of the implant robot system according to claim 7, wherein the specific operation of the implanting step is: the planting robot in the prosthesis implant system according to the data The scanning data of the scanning device is controlled, and the implanting arm is operated to implant the dental restoration into the site to be implanted in the oral cavity to complete the planting of the dental restoration.