CN105496579A - Tooth implantation drilling robot based on small cavity - Google Patents

Abstract

The invention relates to a dental implant drilling robot based on a small cavity, comprising a load-bearing chassis, a mechanical arm, a clamp, a drilling actuator, a control box, a chassis turbine box and a driving arm seat, the lower part of the chassis turbine box is fixed on the load-bearing chassis, and the upper part It is connected with the driving arm seat, and the upper part of the driving arm seat is provided with a connecting hole; the control box is connected with the external computer through a wire, and is fixed on the chassis turbine box at the same time, and one end of the mechanical arm is connected with the connecting hole on the driving arm seat, and the other One end is connected to one end of the fixture, and the other end of the fixture is connected to the drilling actuator; it is characterized in that the drilling actuator includes a medical special brushless motor, a reducer, a rear bushing, a front bushing, a machine head shell, and a drill bit , small connecting rod, crank, large connecting rod, rear transmission shaft, front transmission shaft, bevel gear, integrated gear mandrel and cross shaft; the medical special brushless motor is connected to one end of the rear transmission shaft through a reducer, and the rear transmission The other end of the shaft is connected with one end of the front transmission shaft through a cross shaft.

Description

Dental implant drilling robot based on small cavity

technical field

The invention relates to the technical field of drilling machinery for medical surgery, in particular to a small cavity-based dental implant drilling robot.

Background technique

At present, the prevalence of dental and jaw deformities in my country exceeds 60%. Fixture technology is the most common and effective method of tooth restoration and treatment. However, due to the destruction of teeth caused by trauma, dental implants are required. A completely new application in the field of medicine.

Implant dentures are to implant implants (artificial tooth roots) in the alveolar bone of the missing teeth in the oral cavity. After a few months, the osseointegration is completed, and then the artificial teeth are installed on the artificial tooth roots.

In the process of tooth implantation, it is very important to implant the artificial tooth root in the ideal position. In addition, the quality of the drilling directly determines whether the denture can be successfully implanted. In the traditional implant drilling process, the dentist holds the implant drill to drill, and many problems will occur in this process. On the one hand, because the stability of the dental implant drill held by the dentist is too poor, hand tremor during the drilling process will seriously affect the quality of the drilling, and the position of the drilled hole (the implantation position of the denture) is difficult to accurately control It depends on the doctor's experience. On the other hand, due to the different bone densities of the human body, whether it is traditional dental implant surgery or robotic drilling for dental implants, the strength of surgical instruments on the gums cannot be quantified, which will bring great surgical risks to patients.

Robot technology is a good way to solve the above problems, which can reduce surgical errors caused by human factors and improve surgical quality. There has been some development in the field of implant robots abroad, but it has not been applied in clinical practice. The image-guided dental implant robot researched by Old Dominion University in the United States is a relatively advanced set of robots so far, but it has not been used in clinical practice, and it is still in the experimental stage in general. Except for the rotation of the drill bit, the drilling actuator itself Without degrees of freedom, it is impossible to do bending movements, which limits the flexibility of the entire robot. On the one hand, the cavity space of the human oral cavity is small, and the structure varies from person to person. Some positions are difficult for the robot to reach and perform drilling operations. Moreover, the reduced flexibility of the drilling robot will limit its application in other surgical operations. On the other hand, in real oral surgery, the field of view of the implant robot will be blocked due to the lack of flexibility at the end, which will make the operation more difficult and affect the quality of the operation.

Contents of the invention

The purpose of the present invention is to solve the above-mentioned problems in the prior art, and to provide a dental implant drilling robot based on a small cavity, which greatly improves the robot’s ability to perform fine-tuning due to the addition of a degree of freedom for fine-tuning in the drilling actuator at the end. The flexibility of the robot enables the robot to be used not only in the implant drilling of small cavities, but also in the drilling of other orthopedic surgery under the intervention of imaging equipment, which expands the application range of the robot.

The object of the present invention is achieved through the following technical solutions: a dental implant drilling robot based on a small cavity, including a load-bearing chassis, a mechanical arm, a clamp, a drilling actuator, a control box, a chassis turbine box and a driving arm seat, and a chassis The lower part of the turbine box is fixed on the load-bearing chassis, the upper part is connected with the driving arm base, and the upper part of the driving arm base is provided with a connection hole; the control box is connected with the external computer through a wire, and is fixed on the chassis turbine box at the same time, and one end of the mechanical arm is connected to the The connecting hole on the driving arm seat is connected, the other end is connected with one end of the fixture, and the other end of the fixture is connected with the drilling actuator;

It is characterized in that the drilling actuator includes a medical special brushless motor, a reducer, a rear bushing, a front bushing, a machine head shell, a drill bit, a small connecting rod, a crank, a large connecting rod, a rear transmission shaft, and a front transmission shaft , bevel gear, integrated gear mandrel and cross shaft; the medical special brushless motor is connected to one end of the rear transmission shaft through a reducer, the other end of the rear transmission shaft is connected to one end of the front transmission shaft through a cross shaft, and the front transmission shaft The other end is provided with a bevel gear, the bevel gear is matched with the integrated gear mandrel, the integrated gear mandrel is fixed in the machine head shell through a tapered roller bearing, and the drill bit is inserted into the integrated gear mandrel; the front transmission shaft and the rear The outside of the transmission shaft is respectively covered with a front bushing and a rear bushing, both of which are connected to the corresponding bushings through deep groove ball bearings; a crank is arranged at the bottom of the rear bushing, and the connection between the front bushing and the rear bushing A small connecting rod is arranged at the place, and the small connecting rod is fixedly connected with the front bushing, and the crank and the small connecting rod are connected together through a large connecting rod. The crank, small connecting rod, large connecting rod and rear bushing together form a parallel Quadrilateral mechanism; the parallelogram mechanism is driven by a stepping motor on the fixture;

The fixture includes a fixture body, fastening bolts, a motor fixing block and a motor holder; blind holes are provided on the left and right sides of the fixture body, through which one end of the mechanical arm is connected, and in the middle of the fixture body there is a Groove, the groove is used to place the medical special brushless motor, and it is fixed by fastening bolts; on the fixture body, a motor fixing block and a motor holder are arranged on the end surface close to the drilling actuator, through the motor fixing block and The motor holder holds the stepper motor.

Compared with the prior art, the robot of the present invention adds a cross shaft between the rear transmission shaft and the front transmission shaft of the drilling actuator, and a parallelogram mechanism is arranged on the rear shaft sleeve to transmit the stepper motor on the clamp. The driving force generated, so that the front end of the drilling actuator can be rotated within a certain angle range by controlling the movement of the cross axis and the parallelogram mechanism. The addition of this degree of freedom of rotation is equivalent to adding a front end that can make the drilling actuator The curved fine-tuning mechanism can realize the turning action of the front end of the drilling actuator in the small cavity, and cooperate with the movement of the mechanical arm to further expand the range of motion of the entire robot, greatly improving the flexibility of the robot, and expanding the application of the robot range, it can be applied to other orthopedic surgeries under the intervention of imaging equipment; the robot of the present invention is provided with a torque sensor between the clamp and the small mechanical arm, so that the force generated by the drill bit on the patient's bone tissue can be effectively controlled, and it is well avoided Additional damage to patients with poor bone quality during the operation; the configuration of the mechanical arm of the present invention meets the standards of medical robots, and the overall structure of the robot is compact, easy to control, and high in precision, and can meet the needs of drilling small cavities. Improve the quality of surgery.

Description of drawings

Fig. 1 is a three-dimensional structural schematic diagram of an embodiment of a dental implant drilling robot based on a small cavity of the present invention.

FIG. 2 is a schematic perspective view of the three-dimensional structure of the jig 3 of an embodiment of the dental implant drilling robot based on the small cavity of the present invention.

FIG. 3 is a schematic front view of the drilling actuator 4 of an embodiment of the small cavity-based dental implant drilling robot of the present invention.

Fig. 4 is a partial structural cross-sectional view of the drilling actuator 4 of an embodiment of the dental implant drilling robot based on the small cavity of the present invention.

FIG. 5 is a schematic perspective view of the three-dimensional structure of the robotic arm 2 of an embodiment of the dental implant drilling robot based on the small cavity of the present invention.

In the figure, 1-carrying chassis, 2-mechanical arm, 3-fixture, 4-drilling actuator, 5-control box, 6-chassis turbine box, 7-driving arm seat, 21-servo motor, 22-big machine Arm, 23-planetary reducer, 24-small mechanical arm, 31-fixture body, 32-fastening bolt, 33-motor fixing block, 34-motor cage, 401-medical special brushless motor, 402-reducer, 403-rear bushing, 404-front bushing, 405-head shell, 406-drill, 407-small connecting rod, 408-crank, 409-big connecting rod, 410-rear drive shaft, 411-front drive shaft, 412-bevel gear, 413-integrated gear mandrel, 414-cross shaft.

detailed description

The present invention will be further explained in detail below in conjunction with the embodiments and accompanying drawings, but this should not be used as a limitation to the protection scope of the claims of the present application.

The dental implant drilling robot based on the small cavity of the present invention (referred to as the robot, see Fig. The lower part of the arm base 7 and the chassis turbine box 6 are fixed on the bearing chassis 1, the upper part is connected with the driving arm base 7, and the upper part of the driving arm base 7 is provided with a connecting hole; the control box 5 is connected with an external computer through a wire, and is fixed on the chassis On the turbine box 6, one end of the mechanical arm 2 is connected to the connection hole on the driving arm seat 7, the other end is connected to one end of the clamp 3, and the other end of the clamp 3 is connected to the drilling actuator 4;

The drilling actuator 4 (see Fig. 3-4) includes a special medical brushless motor 401, a reducer 402, a rear bushing 403, a front bushing 404, a nose shell 405, a drill bit 406, a small connecting rod 407, a crank 408, large connecting rod 409, rear transmission shaft 410, front transmission shaft 411, bevel gear 412, integrated gear mandrel 413 and cross shaft 414; the medical special brushless motor 401 is connected to one end of the rear transmission shaft 410 through the reducer 402 connection, the other end of the rear transmission shaft 410 is connected to one end of the front transmission shaft 411 through the cross shaft 414, the other end of the front transmission shaft 411 is provided with a bevel gear 412, the bevel gear 412 is matched with the integrated gear mandrel 413, and the integrated gear The mandrel is fixed in the machine head shell 405 through tapered roller bearings, the drill bit 406 is inserted into the integrated gear mandrel 413, and the medical special brushless motor 401 is connected through the rear drive shaft, front drive shaft, bevel gear, and integrated gear mandrel. The speed and torque are transmitted to the drill bit 406 to drive the drill bit to work; the front shaft sleeve 404 and the rear shaft sleeve 403 are respectively sleeved outside the front transmission shaft 411 and the rear transmission shaft 410, and the transmission shaft is connected to the corresponding shaft through deep groove ball bearings. The shaft sleeve is connected; the bottom of the rear shaft sleeve 403 is provided with a crank 408, and a small connecting rod 407 is arranged at the junction of the front shaft sleeve 404 and the rear shaft sleeve 403, and the small connecting rod 407 is fixedly connected with the front shaft sleeve 404, and the crank Connected together with the small connecting rod through the large connecting rod 409, the crank 408, the small connecting rod 407, the large connecting rod 409 and the rear bushing 403 together form a parallelogram mechanism; Driven by a motor; when the cross shaft 414 rotates to the origin (the cross shaft is coaxial with the front bushing and the rear bushing), the movement of the parallelogram mechanism will drive the movement of the front bushing 404, thereby realizing the drilling actuator 4 Bending movement of the front end;

Described clamp 3 (referring to Fig. 2) comprises clamp body 31, fastening bolt 32, motor fixing block 33 and motor holder 34; Described clamp body 31 is provided with blind holes on the left and right two sides, through this blind hole and machine One end of the arm 2 is connected, and a groove is provided in the middle of the clamp body 31, which is used to place a medical special brushless motor 401, and is fixed by fastening bolts 32; A motor fixing block 33 and a motor holder 31 are arranged on the end face, and the stepper motor is fixed by the motor fixing block 33 and the motor holder 31 .

A further feature of the present invention is that the mechanical arm 2 (see Fig. 5) comprises a servo motor 21, a large mechanical arm 22, a planetary reducer 23 and a small mechanical arm 24; Connect with the connecting hole on the upper part of the driving arm base 7, the upper part of the large mechanical arm 22 is connected with one end of the small mechanical arm 24 through the joint bearing and the joint mandrel, and the small mechanical arm 24 can be connected around the joint of the large mechanical arm and the small mechanical arm The bearing rotates; a servo motor 21 and a planetary reducer 23 are installed at each joint bearing, and the servo motor 21 is connected with the large mechanical arm 22 through the planetary reducer 23; the small mechanical arm 24 is composed of two sections, and the upper small mechanical arm The arm can rotate 360°, and the small mechanical arm of the upper section is connected with the blind holes on the left and right sides of the clamp body 31 .

A further feature of the present invention is that a torque sensor is provided at the connection between the clamp 3 and the mechanical arm 2, and the torque sensor can provide real-time feedback on the force of the drill bit on the bone tissue during the drilling process, and can effectively avoid damage to the bone quality during the operation. The patient suffers additional damage.

A further feature of the present invention is that a positioning device is installed on the drill bit 406 .

A further feature of the present invention is that the model of the medical special brushless motor 401 is Sce-0042379.

A further feature of the present invention is that a navigation system is also installed on the robot. The navigation system can extend the surgeon's limited visual range, provide the surgical site information as much as possible, and realize the interactive dynamic positioning of the medical image and the surgical site before and during the operation.

The working principle of the dental implant drilling robot based on the small cavity of the present invention is: there are bolt holes evenly distributed on the bearing chassis 1, which are used to fix the whole set of robots; The worm rotates along the Z axis (vertical direction), thereby driving the driving arm seat 7 on the chassis turbine box to rotate, and the rotation of the driving arm seat 7 will drive the movement of the mechanical arm 2, the fixture 3 and the drilling actuator 4 in the Z axis direction. Rotation; the robot belongs to the category of articulated robots, and is designed with six degrees of freedom, in which the driving arm base 7 rotates along the Z-axis, and the mechanical arm 2 rotates around the joint where the driving arm base 7 and the mechanical arm 2 are connected. One degree of freedom, there are two degrees of freedom on the mechanical arm 2, one is the rotational degree of freedom at the joint joint between the large mechanical arm 22 and the small mechanical arm 24, and the other is the rotational degree of freedom of the small mechanical arm 24 itself, and the clamp 3 is connected to the The small mechanical arm 24 and the drilling actuator 4 have one degree of freedom when the clamp 3 rotates around the connection between the clamp 3 and the small mechanical arm 24, and the last degree of freedom is the bending degree of freedom of the drilling actuator 4 itself. Among them, the rotation of the medical special brushless motor 401 is transmitted to the drill bit 406 through the reducer 402, the rear transmission shaft 410, the cross shaft 414, the front transmission shaft 411, the bevel gear 412, and the integrated gear mandrel 413 in sequence. The implementation steps are: when the medical special brushless motor rotates to the origin (the position where the cross shaft is coaxial with the front bushing and the rear bushing), the movement of the parallelogram mechanism will drive the front bushing 404 around the cross shaft axis rotation. In this way, the entire set of robots will reach the designated position under the cooperation of the movements of each joint, and perform operations such as drilling.

The use method of the implant drilling robot based on the small cavity of the present invention is as follows: in combination with the actual situation, the patient is fixed on the operating table, and the robot is assembled on a frame at a suitable position away from the patient. The robot is equipped with a navigation system. Before the operation, the robot will first use the positioning device installed near the drill bit 406 to locate the target position, take the coordinates of the target position, and transmit and record the coordinate information through the controller in the control box 5. into the external computer, and then according to the preoperative CT scan data of the target gum bone, the digital parameters of the target gum bone are generated through the three-dimensional reconstruction software, and the control software is installed in the external computer, and the robotic arm 2 and the drilling actuator are guided by the control software 4 work.

Specifically, the external computer issues instructions, which are transmitted to the controller in the control box 5, and the controller will control each motor to drive the corresponding parts to move according to the instructions, so that the positioning device moves and reaches the target position, and the external computer records its coordinates value. Then, according to the CT scan data of the patient's gum bone, the digital parameters of the patient's gum bone are generated through the three-dimensional reconstruction software, and then the coordinate data are integrated. Then, the positioning device is removed, and the implantation point (position of the drilling hole), implantation direction and implantation depth of the tooth root are determined through preoperative planning. The control software will guide the mechanical arm 2 and the drilling actuator 4 to move to the target position along the spatial coordinate system with the assistance of the navigation system for drilling.

The term based on a small cavity in the present invention refers to a cavity based on a human oral cavity or a size similar to that of a human oral cavity.

The control software and three-dimensional reconstruction software involved in the present invention belong to the prior art, and torque sensors, navigation systems, positioning devices, etc. are also commercially available.

What is not described in the present invention is applicable to the prior art.

Claims (6)

1. plant tooth drilling robot based on little cavity for one kind, comprise bearing chassis, mechanical arm, fixture, boring executor, control chamber, chassis turbine box and drive arm seat, turbine box bottom, chassis is fixed in bearing chassis, and top is connected with driving arm seat, drives arm seat top to be provided with connecting hole; Described control chamber is connected with outer computer by wire, is fixed on the turbine box of chassis simultaneously, and described mechanical arm one end is connected with the connecting hole driven on arm seat, and the other end connects with fixture one end, and the other end of fixture is connected with boring executor;

It is characterized in that described boring executor comprises medical extraordinary brushless motor, decelerator, rear axle housing, front shaft sleeve, head shell, drill bit, small rod, crank, big connecting rod, inter-axle shaft, front propeller shaft, bevel gear, integral type gear mandrel and cross axle; Described medical extraordinary brushless motor is connected with inter-axle shaft one end by decelerator, the other end of inter-axle shaft is connected with front propeller shaft one end by cross axle, the other end of front propeller shaft is provided with bevel gear, bevel gear is matched with integral type gear mandrel, integral type gear mandrel is fixed in head shell by taper roll bearing, and drill bit inserts in integral type gear mandrel; Overlap respectively at front propeller shaft and inter-axle shaft outside and have front shaft sleeve and rear axle housing, all by deep groove ball bearing, power transmission shaft is connected with corresponding axle sleeve; Crank is provided with in the bottom of rear axle housing, the junction of front shaft sleeve and rear axle housing is provided with small rod, and small rod is fixedly connected with front shaft sleeve, linked together between crank and small rod by big connecting rod, crank, small rod, big connecting rod and rear axle housing form a parallel-crank mechanism jointly; This parallel-crank mechanism is by the step motor drive on fixture;

Described fixture comprises chuck body, fastening bolt, motor fixed block and motor retainer; About described chuck body, two sides are provided with blind hole, are connected with one end of mechanical arm by this blind hole, and in the middle of chuck body, be provided with groove, this groove is used for laying medical extraordinary brushless electric machine, and is fixed by fastening bolt; In chuck body, on the end face of boring executor, be provided with motor fixed block and motor retainer, fix motor by motor fixed block and motor retainer.

2. according to claim 1ly plant tooth drilling robot based on little cavity, it is characterized in that fixture and mechanical arm junction are provided with torque sensor.

3. according to claim 1ly plant tooth drilling robot based on little cavity, it is characterized in that described mechanical arm comprises servomotor, large mechanical arm, planetary reducer and gadget hands arm; Described large mechanical arm lower end is connected with the connecting hole of joint central spindle with driving arm seat top by oscillating bearing, the top of large mechanical arm is connected with joint central spindle one end with gadget arm by oscillating bearing, and the oscillating bearing that gadget arm can be connected with gadget arm around large mechanical arm rotates; All be provided with servomotor and planetary reducer at each oscillating bearing place, servomotor is connected with large mechanical arm by planetary reducer; Described gadget arm forms by two sections, and epimere gadget arm can 360 ° of rotations, and epimere gadget arm is connected with the blind hole on two sides about chuck body.

4. according to claim 1ly plant tooth drilling robot based on little cavity, it is characterized in that described drill bit is provided with positioner.

5. according to claim 1ly plant tooth drilling robot based on little cavity, it is characterized in that the model of described medical extraordinary brushless motor is Sce-0042379.

6. described plant tooth drilling robot based on little cavity according to claim 1-5 is arbitrary, it is characterized in that this robot is also provided with navigation system.