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CN113633408A - A dental implant robot system with optical navigation and its calibration method - Google Patents

A dental implant robot system with optical navigation and its calibration method Download PDF

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CN113633408A
CN113633408A CN202110867874.7A CN202110867874A CN113633408A CN 113633408 A CN113633408 A CN 113633408A CN 202110867874 A CN202110867874 A CN 202110867874A CN 113633408 A CN113633408 A CN 113633408A
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coordinate system
dental implant
optical
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positioning system
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杨荣骞
晏猋
梁可思
张文龙
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South China University of Technology SCUT
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C8/00—Means to be fixed to the jaw-bone for consolidating natural teeth or for fixing dental prostheses thereon; Dental implants; Implanting tools
    • A61C8/0089—Implanting tools or instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
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Abstract

本发明公开了一种光学导航的牙种植机器人系统及其标定方法，包括光学位置示踪器、六自由度机械臂、机械臂法兰盘末端夹持定位工具、牙种植手机、叉形工具、近红外光学定位系统和手术导航控制系统；光学位置示踪器由牙槽骨固定槽、第一连接杆、五点标记球固定板和光学标记球组成，六自由度机械臂末端安装有机械臂法兰盘末端夹持定位工具，由法兰连接片、第二连接杆、四点标记球固定板、光学标记球和牙种植手机夹持工具组成，夹持有牙种植手机，叉形工具提供车针的精确位置，近红外光学定位系统获取各光学标记球位置信息，手术导航控制系统用以信息数据处理。本发明通过设计光学位置示踪器等结构，提出标定方法，提高了精度和系统稳定性。

Figure 202110867874

The invention discloses an optical navigation dental implant robot system and a calibration method thereof, comprising an optical position tracker, a six-degree-of-freedom mechanical arm, a clamping and positioning tool at the end of a flange plate of the mechanical arm, a dental implant handpiece, a fork-shaped tool, Near-infrared optical positioning system and surgical navigation control system; the optical position tracker is composed of an alveolar bone fixation slot, a first connecting rod, a five-point marker ball fixing plate and an optical marker ball, and a robotic arm is installed at the end of the six-degree-of-freedom robotic arm The clamping and positioning tool at the end of the flange plate is composed of a flange connecting piece, a second connecting rod, a four-point marking ball fixing plate, an optical marking ball and a dental implant handpiece holding tool. The precise position of the bur, the near-infrared optical positioning system obtains the position information of each optical marker ball, and the surgical navigation control system is used for information data processing. The invention proposes a calibration method by designing structures such as an optical position tracer, and improves the accuracy and system stability.

Figure 202110867874

Description

Optical navigation dental implantation robot system and calibration method thereof
Technical Field
The invention relates to the technical field of dental implantation, in particular to an optical navigation dental implantation robot system and a calibration method thereof.
Background
Dental implant surgery is one of the common dental restoration methods, and success or failure is determined by the precision of cavity preparation on alveolar bones. If the deviation of the actual implantation position of the implant from the preoperative plan is large, the implant may be loosened or mechanically broken, thereby causing a series of complications; for patients with thinner jaw areas, if the cavity preparation is severely inaccurate, the procedure will not only fail, but also cause irreversible adjacent root and mandibular nerve canal damage, increasing the risk of the procedure.
Current dental implant procedures are highly dependent on the clinical experience of the physician. On the one hand, the period for cultivating a qualified dentist is long and the cost is high; on the other hand, long-time surgical operations can cause fatigue in the wrists of the surgeon, thereby causing human error. Therefore, there is a need for a dental implant surgical robotic system that makes the surgery more intelligent and automated.
At present, the main problem that tooth implantation robot faces lies in lacking accurate positioning technique, leads to tooth implantation surgical robot can't be applicable to narrow and small, complicated oral cavity internal environment. On one hand, the lack of accurate positioning tools and clamping tools does not provide accurate spatial location information for the system; on the other hand, a mobile hand-eye calibration algorithm with high robustness is lacked, and once the relative spatial positions of the robot and the navigation system are changed, the accurate conversion of coordinates between the robot and the navigation system cannot be realized.
Disclosure of Invention
The invention aims to overcome the defects and shortcomings of the prior art, provides an optical navigation dental implantation robot system and a calibration method thereof for dental implantation surgery, is an automatic and high-precision robot-assisted surgery implementation scheme, designs an optical position tracer, realizes accurate registration of an image space and an operation space, and improves the precision of operation registration and the precision of a navigation system; the calibration method can ensure the stability and robustness of the cooperation between the mechanical arm and the navigation system, and can still accurately register when the relative positions of the mechanical arm and the navigation system are changed.
In order to achieve the purpose, the technical scheme provided by the invention is as follows: an optical navigation dental implantation robot system comprises an optical position tracer, a six-degree-of-freedom mechanical arm, a clamping and positioning tool at the tail end of a flange plate of the mechanical arm, a dental implantation mobile phone, a forked tool, a near-infrared optical positioning system and an operation navigation control system; the optical position tracer comprises an alveolar bone fixing groove, a first connecting rod, a five-point marker ball fixing plate and optical marker balls, wherein one end of the first connecting rod is connected with the alveolar bone fixing groove, the other end of the first connecting rod is connected with the center of the five-point marker ball fixing plate, the five-point marker ball fixing plate is provided with five cantilevers extending from the centers of the five cantilevers along five different directions, the tail end of each cantilever is provided with one optical marker ball, the distance between every two adjacent optical marker balls is larger than a preset value, and the optical position tracer is used for establishing the registration relation between the CT image space of a patient and the actual operation space; the tail end of the six-degree-of-freedom mechanical arm clamps the dental implant mobile phone through a clamping and positioning tool at the tail end of the mechanical arm flange plate, and the dental implant mobile phone is driven through the six-degree-of-freedom mechanical arm; the clamping and positioning tool for the tail end of the flange plate of the mechanical arm consists of a flange connecting plate, a second connecting rod, a four-point marking ball fixing plate, optical marking balls and a dental implant mobile phone clamping tool, wherein the flange connecting plate is fixed on the flange plate at the tail end of the mechanical arm with six degrees of freedom through screws and is connected with one end of the second connecting rod, the other end of the second connecting rod is connected with the dental implant mobile phone clamping tool, the four-point marking ball fixing plate is arranged in the middle of the second connecting rod and is provided with four cantilevers, one optical marking ball is arranged at the tail end of each cantilever, and the distance between every two adjacent optical marking balls is larger than a preset value; the dental implant mobile phone is used for performing cavity preparation and is clamped by a dental implant mobile phone clamping tool; the fork-shaped tool is provided with four cantilevers extending from the center of the fork-shaped tool along four different directions, the tail end of each cantilever is provided with an optical marking ball, and the distance between every two adjacent optical marking balls is larger than a preset value; the near-infrared optical positioning system is used for acquiring the position information of each optical marker ball in real time and determining the positions of the oral cavity of a patient, the tail end of the six-degree-of-freedom mechanical arm and the needle point of the car needle of the dental implant mobile phone; the operation navigation control system is used for receiving the position information sent by the near-infrared optical positioning system in real time, carrying out oral cavity image segmentation and three-dimensional reconstruction and visualized path planning and motion control, and realizing operation navigation in an operation.
Further, the alveolar bone fixing groove is embedded on the alveolar bone of the patient through a fixing screw between the alveolar bone fixing groove and the first connecting rod, and the shape of the alveolar bone fixing groove is matched and customized according to the size of the oral cavity of the patient.
Further, the clamping and positioning tool at the tail end of the flange plate of the mechanical arm is used for clamping the dental implant mobile phone and representing the position information of the tool at the tail end of the six-degree-of-freedom mechanical arm.
Further, the center of the fork-shaped tool is vertically pressed against the turning needle of the dental implant handpiece before operation, so as to provide the accurate position of the turning needle.
The invention also provides a calibration method of the dental implantation robot system with the optical navigation, which comprises the following steps:
s1, obtaining the conversion relation between the coordinate system of the robot base and the coordinate system of the tail end of the six-degree-of-freedom mechanical arm according to the internal parameters of the robot; calculating unit vectors from an initial pose to an offset pose of the six-degree-of-freedom mechanical arm to obtain conversion relations between a robot base coordinate system and a near-infrared optical positioning system coordinate system, between a six-degree-of-freedom mechanical arm tail end coordinate system and a near-infrared optical positioning system coordinate system, and between a dental implant mobile phone coordinate system and a near-infrared optical positioning system coordinate system;
s2, solving the conversion relation between the dental implant mobile phone coordinate system and the dental implant mobile phone needle tail end coordinate system by using singular value decomposition based on the conversion relation between the dental implant mobile phone coordinate system and the near infrared optical positioning system coordinate system;
s3, calculating a conversion relation between the dental implant mobile phone needle tail end coordinate system and the near infrared optical positioning system coordinate system based on the conversion relation between the dental implant mobile phone coordinate system and the near infrared optical positioning system coordinate system and between the dental implant mobile phone coordinate system and the dental implant mobile phone needle tail end coordinate system;
s4, based on the conversion relation between a robot base coordinate system and a six-degree-of-freedom mechanical arm tail end coordinate system, between the six-degree-of-freedom mechanical arm tail end coordinate system and a tooth implantation mobile phone coordinate system, and between the tooth implantation mobile phone coordinate system and a tooth implantation mobile phone car needle tail end coordinate system, the near-infrared optical positioning system captures the positions of any three optical mark points on the clamping and positioning tool at the tail end of the flange of the mechanical arm in real time, the conversion relation between the tooth implantation mobile phone coordinate system and the near-infrared optical positioning system coordinate system is solved in real time by utilizing singular value decomposition, and the conversion relation between all coordinate systems in a closed loop is updated.
Further, the S1 includes the following steps:
s101, controlling the tail end of a six-degree-of-freedom mechanical arm to respectively move forwards in unit along three coordinate axes of a robot base coordinate system by taking any one optical mark point on a clamping and positioning tool at the tail end of a mechanical arm flange plate as a reference; capturing the positions of the optical mark points before and after movement by the near-infrared optical positioning system, and calculating a unit vector of the tail end of the six-degree-of-freedom mechanical arm from an initial pose to an offset pose under a near-infrared optical positioning system coordinate system to obtain a conversion relation between a robot base coordinate system and a near-infrared optical positioning system coordinate system;
s102, controlling the tail end of the six-degree-of-freedom mechanical arm to respectively perform single-position forward motion along three coordinate axes of a coordinate system at the tail end of the six-degree-of-freedom mechanical arm by taking any one optical mark point on the clamping and positioning tool at the tail end of the flange plate of the mechanical arm as a reference; capturing the positions of the optical mark points before and after movement by the near-infrared optical positioning system, and calculating a unit vector of the tail end of the six-degree-of-freedom mechanical arm from an initial pose to an offset pose under a coordinate system of the near-infrared optical positioning system to obtain a rotation matrix of the coordinate system of the tail end of the six-degree-of-freedom mechanical arm and the coordinate system of the near-infrared optical positioning system;
s103, clamping any three optical mark points on the positioning tool by using the tail end of the flange plate of the mechanical arm to establish a coordinate system of the dental implant mobile phone; the near-infrared optical positioning system captures the position information of the three optical mark points when the six-degree-of-freedom mechanical arm reaches the initial pose, and the conversion relation between the coordinate system of the teething implanting mobile phone and the coordinate system of the near-infrared optical positioning system is calculated.
Further, the S2 includes the following steps:
s201, placing a fork-shaped tool at the needle point of a machine needle of a dental implant mobile phone, and capturing the positions of four optical mark points on the fork-shaped tool by a near-infrared optical positioning system;
s202, based on a conversion relation between a dental implant mobile phone coordinate system and a near-infrared optical positioning system coordinate system, converting position information of the four optical mark points in the near-infrared optical positioning system coordinate system into position information in the dental implant mobile phone coordinate system;
s203, establishing a dental implant handpiece needle end coordinate system by using any three optical marking points on the forked tool, and solving a conversion relation between the dental implant handpiece coordinate system and the dental implant handpiece needle end coordinate system by using a singular value decomposition method based on the position information of the four optical marking points in the dental implant handpiece coordinate system.
Further, the S3 includes the following steps:
s301, establishing a conversion relation between any point in the operation space and position information under a coordinate system of a near infrared optical positioning system under a dental implant mobile phone car needle tail end coordinate system:
Figure BDA0003187974590000051
wherein, PoAnd PpRespectively represents the position information of the point under the coordinate system of the dental implant mobile phone needle end and the coordinate system of the near infrared optical positioning system, RpoAnd TpoRespectively representing a rotation matrix and a translation matrix R between a dental implant mobile phone car needle tail end coordinate system and a near infrared optical positioning system coordinate systemtoAnd TtoRespectively representing a rotation matrix and a translation matrix R between a dental implant mobile phone coordinate system and a near-infrared optical positioning system coordinate systemptAnd TptRespectively represent the coordinate system of the tail end of the hand-held machine needle of the dental implant anda rotation matrix and a translation matrix of a dental implant mobile phone coordinate system;
and S302, calculating a conversion relation between the coordinate system of the tail end of the dental implant mobile phone needle and the coordinate system of the near-infrared optical positioning system by using the conversion relation established in the S301.
Further, before the operation, the calibration is performed by using the steps S1-S3, and when the relative position between the surgical robot and the near-infrared optical positioning system is changed, the conversion relation of the closed loop is updated by using the step S4, so that a new calibration is completed.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the optical position tracer designed by the invention has an exquisite structure and can realize customization; and 3D printing is adopted for manufacturing, so that the price is low. Different from other optical position tracers adopting two-dimensional checkerboards, the optical marker ball adopted by the invention has higher optical positioning precision which can reach 0.12 mm.
2. The clamping and positioning tool for the tail end of the flange plate of the mechanical arm, which is designed by the invention, has a simple and reliable structure and is convenient to process and manufacture; the real-time positioning and tracking of the surgical tool can be realized; the installation is convenient, and the flange plate at the tail end of the six-freedom-degree mechanical arm is fixed through screws.
3. The forked tool designed by the invention is convenient to use, can be used only by being placed at the needle point of the dental implant mobile phone lathe needle, and has the advantages of simple and exquisite structure, higher reliability and high matching precision.
4. The calibration method designed by the invention has high precision and wide use scene, and is suitable for various complex operation scenes; the rapid calibration of the robot and the navigation system can be realized by less input data; the navigation system and the surgical robot system can keep relative independence of position relation and can work in a mutual cooperation mode, and the robustness is high.
Drawings
Fig. 1 is an overall schematic diagram of an optical navigation dental implant robot system.
Fig. 2 is a schematic diagram of an optical position tracer.
Fig. 3 is a schematic structural diagram of the clamping and positioning tool at the end of the flange of the mechanical arm.
Fig. 4 is a schematic view of a fork tool.
Detailed Description
The present invention will be further described with reference to specific examples, but the embodiments of the present invention are not limited thereto.
Referring to fig. 1 to 4, the embodiment discloses an optical navigation dental implantation robot system, which includes an optical position tracer 1, a six-degree-of-freedom mechanical arm 2, a mechanical arm flange end clamping and positioning tool 3, a dental implantation mobile phone 4, a fork-shaped tool 5, a near-infrared optical positioning system 6 and an operation navigation control system 7; the optical position tracer 1 comprises an alveolar bone fixing groove 101, a first connecting rod 102, a five-point marker ball fixing plate 103 and optical marker balls 104, wherein the alveolar bone fixing groove 101 is embedded in an alveolar bone of a patient through a fixing screw between the alveolar bone fixing groove 101 and the first connecting rod 102, the shape of the alveolar bone fixing groove is matched and customized according to the size of the oral cavity of the patient, one end of the first connecting rod 102 is connected with the alveolar bone fixing groove 101, the other end of the first connecting rod 102 is connected with the center of the five-point marker ball fixing plate 103, five cantilevers extend from the centers of the five-point marker ball fixing plate 103 along five different directions, the tail end of each cantilever is provided with one optical marker ball 104, the distance between every two adjacent optical marker balls 104 is larger than 4cm, and the optical marker balls are used for establishing the registration relation between a CT image space of the patient and an actual operation space; the tail end of the six-degree-of-freedom mechanical arm 2 clamps the dental implant mobile phone 4 through the mechanical arm flange plate tail end clamping and positioning tool 3, and the dental implant mobile phone 4 is driven through the six-degree-of-freedom mechanical arm 2; the clamping and positioning tool 3 for the tail end of the flange plate of the mechanical arm consists of a flange connecting plate 301, a second connecting rod 302, a four-point marking ball fixing plate 303, an optical marking ball 304 and a dental implant mobile phone clamping tool 305 and is used for representing the position information of the tool at the tail end of the six-degree-of-freedom mechanical arm, the flange connecting plate 301 is fixed on the flange plate 201 at the tail end of the six-degree-of-freedom mechanical arm 2 through a screw 306 and is connected with one end of the second connecting rod 302, the other end of the second connecting rod 302 is connected with the dental implant mobile phone clamping tool 305, the four-point marking ball fixing plate 303 is arranged in the middle of the second connecting rod 302 and is provided with four cantilevers, the tail end of each cantilever is provided with one optical marking ball 304, and the distance between every two adjacent optical marking balls 304 is larger than 4 cm; the dental implant handpiece 4 is used for performing cavity preparation and is clamped by the clamping and positioning tool 3 at the tail end of the flange plate of the mechanical arm; the fork-shaped tool 5 is provided with four cantilevers extending from the center in four different directions, the tail end of each cantilever is provided with an optical marking ball 501, the distance between every two adjacent optical marking balls 501 is more than 4cm, and the center of the fork-shaped tool 5 is vertically abutted against the turning needle 41 of the dental implant handpiece 4 before operation for providing the accurate position of the turning needle 41; the near infrared optical positioning system 6 is used for acquiring the position information of each optical marker ball in real time and determining the positions of the oral cavity of a patient, the tail end of the six-freedom-degree mechanical arm and the needle point of a machine needle 41 of the dental implant mobile phone; the operation navigation control system 7 is used for receiving the position information sent by the near-infrared optical positioning system in real time, performing oral image segmentation and three-dimensional reconstruction, and performing visualized path planning and motion control, thereby realizing operation navigation in the operation.
The following is a calibration method of the dental implantation robot system with optical navigation in this embodiment, including the following steps:
s1, obtaining the conversion relation between the coordinate system of the robot base and the coordinate system of the tail end of the six-degree-of-freedom mechanical arm according to the internal parameters of the robot; calculating unit vectors from an initial pose to an offset pose of the six-degree-of-freedom mechanical arm to obtain conversion relations between a robot base coordinate system and a near-infrared optical positioning system coordinate system, between a six-degree-of-freedom mechanical arm tail end coordinate system and a near-infrared optical positioning system coordinate system, and between a dental implant mobile phone coordinate system and a near-infrared optical positioning system coordinate system; which comprises the following steps:
s101, controlling the tail end of a six-degree-of-freedom mechanical arm to respectively move forwards in unit along three coordinate axes of a robot base coordinate system by taking any one optical mark point on a clamping and positioning tool at the tail end of a mechanical arm flange plate as a reference; capturing the positions of the optical mark points before and after movement by the near-infrared optical positioning system, and calculating a unit vector of the tail end of the six-degree-of-freedom mechanical arm from an initial pose to an offset pose under a near-infrared optical positioning system coordinate system to obtain a conversion relation between a robot base coordinate system and a near-infrared optical positioning system coordinate system;
s102, controlling the tail end of the six-degree-of-freedom mechanical arm to respectively perform single-position forward motion along three coordinate axes of a coordinate system at the tail end of the six-degree-of-freedom mechanical arm by taking any one optical mark point on the clamping and positioning tool at the tail end of the flange plate of the mechanical arm as a reference; capturing the positions of the optical mark points before and after movement by the near-infrared optical positioning system, and calculating a unit vector of the tail end of the six-degree-of-freedom mechanical arm from an initial pose to an offset pose under a coordinate system of the near-infrared optical positioning system to obtain a rotation matrix of the coordinate system of the tail end of the six-degree-of-freedom mechanical arm and the coordinate system of the near-infrared optical positioning system;
s103, clamping any three optical mark points on the positioning tool by using the tail end of the flange plate of the mechanical arm to establish a coordinate system of the dental implant mobile phone; the near-infrared optical positioning system captures the position information of the three optical mark points when the six-degree-of-freedom mechanical arm reaches the initial pose, and the conversion relation between the coordinate system of the teething implanting mobile phone and the coordinate system of the near-infrared optical positioning system is calculated.
S2, solving the conversion relation between the dental implant mobile phone coordinate system and the dental implant mobile phone needle tail end coordinate system by using singular value decomposition based on the conversion relation between the dental implant mobile phone coordinate system and the near infrared optical positioning system coordinate system; which comprises the following steps:
s201, placing a fork-shaped tool at the needle point of a machine needle of a dental implant mobile phone, and capturing the positions of four optical mark points on the fork-shaped tool by a near-infrared optical positioning system;
s202, based on a conversion relation between a dental implant mobile phone coordinate system and a near-infrared optical positioning system coordinate system, converting position information of the four optical mark points in the near-infrared optical positioning system coordinate system into position information in the dental implant mobile phone coordinate system;
s203, establishing a dental implant handpiece needle end coordinate system by using any three optical marking points on the forked tool, and solving a conversion relation between the dental implant handpiece coordinate system and the dental implant handpiece needle end coordinate system by using a singular value decomposition method based on the position information of the four optical marking points in the dental implant handpiece coordinate system.
S3, calculating a conversion relation between the dental implant mobile phone needle tail end coordinate system and the near infrared optical positioning system coordinate system based on the conversion relation between the dental implant mobile phone coordinate system and the near infrared optical positioning system coordinate system and between the dental implant mobile phone coordinate system and the dental implant mobile phone needle tail end coordinate system; which comprises the following steps:
s301, establishing a conversion relation between any point in the operation space and position information under a coordinate system of a near infrared optical positioning system under a dental implant mobile phone car needle tail end coordinate system:
Figure BDA0003187974590000091
wherein, PoAnd PpRespectively represents the position information of the point under the coordinate system of the dental implant mobile phone needle end and the coordinate system of the near infrared optical positioning system, RpoAnd TpoRespectively representing a rotation matrix and a translation matrix R between a dental implant mobile phone car needle tail end coordinate system and a near infrared optical positioning system coordinate systemtoAnd TtoRespectively representing a rotation matrix and a translation matrix R between a dental implant mobile phone coordinate system and a near-infrared optical positioning system coordinate systemptAnd TptRespectively representing a rotation matrix and a translation matrix of a tooth implantation mobile phone needle tail end coordinate system and a tooth implantation mobile phone coordinate system;
and S302, calculating a conversion relation between the coordinate system of the tail end of the dental implant mobile phone needle and the coordinate system of the near-infrared optical positioning system by using the conversion relation established in the S301.
S4, based on the conversion relation between a robot base coordinate system and a six-degree-of-freedom mechanical arm tail end coordinate system, between the six-degree-of-freedom mechanical arm tail end coordinate system and a tooth implantation mobile phone coordinate system, and between the tooth implantation mobile phone coordinate system and a tooth implantation mobile phone car needle tail end coordinate system, the near-infrared optical positioning system captures the positions of any three optical mark points on the clamping and positioning tool at the tail end of the flange of the mechanical arm in real time, the conversion relation between the tooth implantation mobile phone coordinate system and the near-infrared optical positioning system coordinate system is solved in real time by utilizing singular value decomposition, and the conversion relation between all coordinate systems in a closed loop is updated.
Before operation, calibration is carried out by using steps S1-S3, and when the relative position of the surgical robot and the near-infrared optical positioning system is changed, the conversion relation of the closed loop is updated by using step S4, so that a new round of calibration is completed.
The following is an application flow of the calibration method of the dental implantation robot system with optical navigation in dental implantation surgery in this embodiment, including:
the method comprises the following steps: the patient wears an optical position tracer to carry out CT scanning, the obtained CT image is subjected to image segmentation and other processing, and three-dimensional reconstruction is carried out on an operation navigation control system;
step two: planning a path on a three-dimensional visual interface on the operation navigation control system, setting a needle movement track, a safety point and a target point, and avoiding important tissues such as nerves, blood vessels and the like in dental pulp;
step three: establishing a hand-eye cooperative relationship between the six-degree-of-freedom mechanical arm and the near-infrared optical positioning system by using a calibration method; using a fork-shaped tool to register the tool, and determining the needle body direction of the machine needle and the spatial position of the needle point under a robot base coordinate system;
step four: the operation navigation control system realizes the matching of the image space and the operation space and sends an instruction to the operation robot through five optical marker balls on the optical position tracer;
step five: the six-degree-of-freedom mechanical arm drives the held tooth implanting mobile phone to move right above teeth of the target area, a safety point is reached, the needle point position and the needle body direction of the lathe needle are accurately adjusted, and the tail end of the six-degree-of-freedom mechanical arm reaches a target point along the needle body direction.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.

Claims (9)

1.一种光学导航的牙种植机器人系统，其特征在于：包括光学位置示踪器、六自由度机械臂、机械臂法兰盘末端夹持定位工具、牙种植手机、叉形工具、近红外光学定位系统和手术导航控制系统；所述光学位置示踪器由牙槽骨固定槽、第一连接杆、五点标记球固定板和光学标记球组成，所述第一连接杆的一端连接牙槽骨固定槽，另一端连接五点标记球固定板的中心处，所述五点标记球固定板由其中心沿五个不同的方向延伸有五个悬臂，每个悬臂末端均安装一个光学标记球，相邻两个光学标记球之间的距离大于预设值，用来建立患者CT影像空间与实际手术空间的配准关系；所述六自由度机械臂的末端通过机械臂法兰盘末端夹持定位工具夹持牙种植手机，通过六自由度机械臂驱动牙种植手机；所述机械臂法兰盘末端夹持定位工具由法兰连接片、第二连接杆、四点标记球固定板、光学标记球和牙种植手机夹持工具组成，所述法兰连接片通过螺丝固定在六自由度机械臂末端的法兰盘上并与第二连接杆的一端相连，所述第二连接杆的另一端与牙种植手机夹持工具相连，所述四点标记球固定板安装在第二连接杆的中部并设有四个悬臂，每个悬臂末端均安装一个光学标记球，相邻两个光学标记球之间的距离大于预设值；所述牙种植手机用来执行窝洞制备，由牙种植手机夹持工具所夹持；所述叉形工具由其中心沿四个不同的方向延伸有四个悬臂，每个悬臂末端均安装一个光学标记球，相邻两个光学标记球之间的距离大于预设值；所述近红外光学定位系统用来实时获取各光学标记球的位置信息，确定患者口腔、六自由度机械臂末端和牙种植手机的车针针尖的位置；所述手术导航控制系统用来实时接收近红外光学定位系统发送的位置信息，进行口腔图像分割和三维重建及可视化的路径规划和运动控制，实现术中的手术导航。1. a dental implant robot system of optical navigation, it is characterized in that: comprise optical position tracer, six degrees of freedom mechanical arm, mechanical arm flange end clamping positioning tool, dental implant handpiece, fork tool, near-infrared An optical positioning system and a surgical navigation control system; the optical position tracker is composed of an alveolar bone fixing slot, a first connecting rod, a five-point marking ball fixing plate and an optical marking ball, and one end of the first connecting rod is connected to the tooth The other end of the slot is connected to the center of the five-point marker ball fixing plate. The five-point marker ball fixing plate has five cantilevers extending from its center in five different directions, and an optical marker is installed at the end of each cantilever. Ball, the distance between two adjacent optical marker balls is greater than the preset value, used to establish the registration relationship between the CT image space of the patient and the actual operation space; the end of the six-degree-of-freedom robotic arm passes through the end of the robotic arm flange The clamping and positioning tool clamps the dental implant handpiece, and drives the dental implant handpiece through a six-degree-of-freedom mechanical arm; the clamping and positioning tool at the end of the robotic arm flange is composed of a flange connecting piece, a second connecting rod, and a four-point marking ball fixing plate , optical marking ball and dental implant handpiece clamping tool, the flange connecting piece is fixed on the flange at the end of the six-degree-of-freedom mechanical arm by screws and is connected with one end of the second connecting rod, the second connecting rod The other end is connected with the dental implant handpiece holding tool, the four-point marking ball fixing plate is installed in the middle of the second connecting rod and is provided with four cantilevers, each cantilever end is installed with an optical marking ball, two adjacent The distance between the optical marking balls is greater than a preset value; the dental implant handpiece is used to perform cavity preparation and is held by the dental implant handpiece holding tool; the fork-shaped tool extends from its center in four different directions There are four cantilevers, an optical marker ball is installed at the end of each cantilever, and the distance between two adjacent optical marker balls is greater than a preset value; the near-infrared optical positioning system is used to obtain the position information of each optical marker ball in real time , determine the position of the patient's mouth, the end of the six-degree-of-freedom robotic arm and the needle tip of the dental implant handpiece; the surgical navigation control system is used to receive the position information sent by the near-infrared optical positioning system in real time, and perform oral image segmentation and three-dimensional reconstruction and Visual path planning and motion control for intraoperative surgical navigation. 2.根据权利要求1所述的一种光学导航的牙种植机器人系统，其特征在于：所述牙槽骨固定槽通过与第一连接杆之间的固定螺丝嵌在患者的牙槽骨上，形状按照病人口腔大小进行匹配定制。2. The dental implant robot system for optical navigation according to claim 1, wherein the alveolar bone fixing groove is embedded on the patient's alveolar bone through a fixing screw between the alveolar bone and the first connecting rod, The shape is customized to match the size of the patient's mouth. 3.根据权利要求1所述的一种光学导航的牙种植机器人系统，其特征在于：所述机械臂法兰盘末端夹持定位工具用来夹持牙种植手机并表征六自由度机械臂末端工具的位置信息。3. The dental implant robot system for optical navigation according to claim 1, wherein the clamping and positioning tool at the end of the robotic arm flange is used to clamp the dental implant handpiece and characterize the end of the six-degree-of-freedom robotic arm Tool's location information. 4.根据权利要求1所述的一种光学导航的牙种植机器人系统，其特征在于：所述叉形工具的中心在术前垂直抵住牙种植手机的车针上，用于提供车针的精确位置。4. The dental implant robot system of an optical navigation according to claim 1, wherein the center of the fork-shaped tool is vertically abutted on the bur of the dental implant handpiece before the operation, and is used to provide the bur of the bur. precise location. 5.权利要求1-4任意一项所述光学导航的牙种植机器人系统的标定方法，其特征在于，包括以下步骤：5. the calibration method of the dental implant robot system of optical navigation described in any one of claim 1-4, is characterized in that, comprises the following steps: S1、由机器人内部参数得到机器人基座坐标系与六自由度机械臂末端坐标系的转换关系；通过计算六自由度机械臂初始位姿到偏移位姿的单位向量，求出机器人基座坐标系与近红外光学定位系统坐标系、六自由度机械臂末端坐标系与近红外光学定位系统坐标系、牙种植手机坐标系与近红外光学定位系统坐标系之间的转换关系；S1. Obtain the transformation relationship between the robot base coordinate system and the end coordinate system of the six-degree-of-freedom manipulator arm from the internal parameters of the robot; by calculating the unit vector from the initial pose of the six-degree-of-freedom manipulator arm to the offset pose, obtain the coordinates of the robot base The transformation relationship between the coordinate system of the near-infrared optical positioning system and the coordinate system of the near-infrared optical positioning system, the coordinate system of the end of the six-degree-of-freedom manipulator and the coordinate system of the near-infrared optical positioning system, the coordinate system of the dental implant mobile phone and the coordinate system of the near-infrared optical positioning system; S2、基于牙种植手机坐标系与近红外光学定位系统坐标系之间的转换关系，使用奇异值分解，求出牙种植手机坐标系与牙种植手机车针末端坐标系之间的转换关系；S2. Based on the conversion relationship between the coordinate system of the dental implant mobile phone and the coordinate system of the near-infrared optical positioning system, use singular value decomposition to obtain the conversion relationship between the dental implant mobile phone coordinate system and the dental implant mobile phone bur end coordinate system; S3、基于牙种植手机坐标系与近红外光学定位系统坐标系、牙种植手机坐标系与牙种植手机车针末端坐标系之间的转换关系，计算出牙种植手机车针末端坐标系与近红外光学定位系统坐标系之间的转换关系；S3. Based on the transformation relationship between the coordinate system of the dental implant mobile phone and the coordinate system of the near-infrared optical positioning system, the coordinate system of the dental implant mobile phone and the coordinate system of the dental implant mobile phone bur end, calculate the relationship between the dental implant mobile phone bur end coordinate system and the near-infrared The conversion relationship between the coordinate systems of the optical positioning system; S4、基于机器人基座坐标系与六自由度机械臂末端坐标系、六自由度机械臂末端坐标系与牙种植手机坐标系、牙种植手机坐标系与牙种植手机车针末端坐标系之间的转换关系，近红外光学定位系统实时捕获机械臂法兰盘末端夹持定位工具上任意三个光学标记点的位置，利用奇异值分解，实时求解出牙种植手机坐标系与近红外光学定位系统坐标系之间的转换关系，并更新闭合回路中所有坐标系间的转换关系。S4. Based on the coordinate system of the robot base and the coordinate system of the end of the 6-DOF robot arm, the coordinate system of the end of the 6-DOF robot arm and the coordinate system of the dental implant mobile phone, and the coordinate system of the dental implant mobile phone and the end coordinate system of the dental implant mobile phone Conversion relationship, the near-infrared optical positioning system captures the positions of any three optical markers on the clamping and positioning tool at the end of the manipulator flange in real time, and uses singular value decomposition to solve the coordinates of the dental implant mobile phone and the near-infrared optical positioning system in real time. The transformation relationship between the coordinate systems is updated, and the transformation relationship between all coordinate systems in the closed loop is updated. 6.根据权利要求5所述的光学导航的牙种植机器人系统的标定方法，其特征在于，所述S1包括以下步骤：6. the calibration method of the dental implant robot system of optical navigation according to claim 5, is characterized in that, described S1 comprises the following steps: S101、以机械臂法兰盘末端夹持定位工具上任意一个光学标记点为基准，控制六自由度机械臂末端分别沿机器人基座坐标系的三个坐标轴作单位正向运动；近红外光学定位系统捕捉该光学标记点运动前后的位置，计算近红外光学定位系统坐标系下六自由度机械臂末端从初始位姿到偏移位姿的单位向量，得到机器人基座坐标系与近红外光学定位系统坐标系的转换关系；S101. Based on any optical marking point on the clamping and positioning tool at the end of the manipulator flange, control the end of the six-degree-of-freedom manipulator to make a unit forward movement along the three coordinate axes of the coordinate system of the robot base; near-infrared optics The positioning system captures the position of the optical marker before and after the movement, calculates the unit vector of the end of the six-degree-of-freedom manipulator from the initial pose to the offset pose in the coordinate system of the near-infrared optical positioning system, and obtains the coordinate system of the robot base and the near-infrared optical The transformation relationship of the coordinate system of the positioning system; S102、以机械臂法兰盘末端夹持定位工具上任意一个光学标记点为基准，控制六自由度机械臂末端分别沿六自由度机械臂末端坐标系的三个坐标轴作单位正向运动；近红外光学定位系统捕捉该光学标记点运动前后的位置，计算近红外光学定位系统坐标系下六自由度机械臂末端从初始位姿到偏移位姿的单位向量，得六自由度机械臂末端坐标系与近红外光学定位系统坐标系的旋转矩阵；S102, taking any optical mark point on the clamping and positioning tool at the end of the manipulator flange as a benchmark, control the end of the six-degree-of-freedom manipulator to move in a unit forward direction along the three coordinate axes of the coordinate system of the six-degree-of-freedom manipulator end; The near-infrared optical positioning system captures the position of the optical marker before and after the movement, and calculates the unit vector of the end of the six-degree-of-freedom manipulator from the initial pose to the offset pose in the coordinate system of the near-infrared optical positioning system, and obtains the end of the six-degree-of-freedom manipulator. The rotation matrix of the coordinate system and the coordinate system of the near-infrared optical positioning system; S103、利用机械臂法兰盘末端夹持定位工具上任意三个光学标记点建立牙种植手机坐标系；近红外光学定位系统捕捉六自由度机械臂到达初始位姿时这三个光学标记点的位置信息，计算出牙种植手机坐标系与近红外光学定位系统坐标系的转换关系。S103. Use any three optical marking points on the gripping and positioning tool at the end of the robotic arm flange to establish the coordinate system of the dental implant mobile phone; the near-infrared optical positioning system captures the coordinates of the three optical marking points when the six-degree-of-freedom robotic arm reaches the initial pose The position information is used to calculate the conversion relationship between the coordinate system of the dental implant mobile phone and the coordinate system of the near-infrared optical positioning system. 7.根据权利要求5所述的光学导航的牙种植机器人系统的标定方法，其特征在于，所述S2包括以下步骤：7. the calibration method of the dental implant robot system of optical navigation according to claim 5, is characterized in that, described S2 comprises the following steps: S201、将叉形工具置于牙种植手机的车针针尖处，近红外光学定位系统实现捕捉叉形工具上四个光学标记点的位置；S201, placing the fork-shaped tool at the needle tip of the dental implant handpiece, and the near-infrared optical positioning system realizes capturing the positions of the four optical marking points on the fork-shaped tool; S202、基于牙种植手机坐标系与近红外光学定位系统坐标系之间的转换关系，将四个光学标记点在近红外光学定位系统坐标系下的位置信息转换为在牙种植手机坐标系下的位置信息；S202. Based on the conversion relationship between the coordinate system of the dental implant mobile phone and the coordinate system of the near-infrared optical positioning system, the position information of the four optical marking points in the coordinate system of the near-infrared optical positioning system is converted into the coordinate system of the dental implant mobile phone. location information; S203、利用叉形工具上任意三个光学标记点建立牙种植手机车针末端坐标系，基于四个光学标记点在种植手机坐标系下的位置信息，利用奇异值分解法，求出牙种植手机坐标系与牙种植手机车针末端坐标系之间的转换关系。S203 , using any three optical marking points on the fork-shaped tool to establish a coordinate system of the end of the dental implant bur, and based on the position information of the four optical marking points in the coordinate system of the implant, using the singular value decomposition method, obtain the dental implant The transformation relationship between the coordinate system and the end coordinate system of the dental implant mobile phone bur. 8.根据权利要求5所述的光学导航的牙种植机器人系统的标定方法，其特征在于，所述S3包括以下步骤：8. the calibration method of the dental implant robot system of optical navigation according to claim 5, is characterized in that, described S3 comprises the following steps: S301、建立手术空间中任意一点在牙种植手机车针末端坐标系下与在近红外光学定位系统坐标系下位置信息的转换关系：S301, establish the transformation relationship between any point in the surgical space under the coordinate system of the end of the dental implant handpiece bur and the position information under the coordinate system of the near-infrared optical positioning system:
Figure FDA0003187974580000041
Figure FDA0003187974580000041
 其中，Po和Pp分别表示该点在牙种植手机车针末端坐标系下和在近红外光学定位系统坐标系下位置信息，Rpo和Tpo分别表示牙种植手机车针末端坐标系与近红外光学定位系统坐标系之间的旋转矩阵和平移矩阵，Rto和Tto分别表示牙种植手机坐标系与近红外光学定位系统坐标系之间的旋转矩阵和平移矩阵，Rpt和Tpt分别表示牙种植手机车针末端坐标系与牙种植手机坐标系的旋转矩阵和平移矩阵；Among them, P o and P p represent the position information of the point in the coordinate system of the end of the dental implant handpiece bur and in the coordinate system of the near-infrared optical positioning system, respectively, and R po and T po respectively represent the coordinate system of the end of the dental implant handpiece bur and The rotation matrix and translation matrix between the coordinate system of the near-infrared optical positioning system, R to and T to represent the rotation matrix and translation matrix between the coordinate system of the dental implant mobile phone and the coordinate system of the near-infrared optical positioning system, R pt and T pt respectively represent the rotation matrix and translation matrix of the dental implant handpiece bur end coordinate system and the dental implant handpiece coordinate system; S302、利用S301建立的转换关系求出牙种植手机车针末端坐标系与近红外光学定位系统坐标系之间的转换关系。S302 , using the transformation relationship established in S301 to obtain the transformation relationship between the coordinate system of the end of the dental implant mobile phone bur and the coordinate system of the near-infrared optical positioning system. 9.根据权利要求5所述的光学导航的牙种植机器人系统的标定方法，其特征在于，术前利用步骤S1-S3进行标定，当手术机器人与近红外光学定位系统的相对位置发生改变时，利用步骤S4进行闭合回路转换关系的更新，完成新一轮的标定。9. the calibration method of the dental implant robot system of optical navigation according to claim 5, is characterized in that, utilizes steps S1-S3 to carry out calibration before operation, when the relative position of the surgical robot and the near-infrared optical positioning system changes, Step S4 is used to update the closed-loop conversion relationship to complete a new round of calibration.
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Application publication date: 20211112