CN115317168B - Hole-preparation milling composite cutter of oral implantation robot and application thereof - Google Patents

Abstract

The drilling and milling composite cutter comprises a cutter handle and a cutter bar which are connected, wherein a cortical bone forming edge, a serrated cutting edge and a main cutting edge which are sequentially arranged along the length direction of the cutter bar are formed on the cutter bar, the cortical bone forming edge, the serrated cutting edge and the main cutting edge are sequentially connected, and the main cutting edge is formed at the end part of the cutter bar; the diameter sizes of the cortical bone forming blade, the serrated cutting blade and the main cutting edge are sequentially reduced; a mounting clamping groove is formed on the knife handle; compared with the prior art, the cortical bone forming edge, the serrated cutting edge and the main cutting edge which are sequentially connected are arranged on the same cutter bar, so that the cutter is not required to be replaced in the operation process, the number of times of cutter lifting is reduced, the drilling and milling composite cutter is not required to be repeatedly positioned in the use process, the stability and the accuracy are better, the hole preparation efficiency is improved, the repeated positioning error of a robot caused by the replacement of the drill in the process is reduced, and the complexity of the hole preparation process is reduced.

Description

A drilling and milling composite tool for preparing holes for an oral implant robot and its application

Technical Field

The present invention relates to the technical field of oral implant robots, and in particular to a hole preparation drilling and milling composite tool for an oral implant robot and an application thereof.

Background technique

Oral implant refers to the surgical preparation of a cavity in the jawbone at the site of missing teeth and the implantation of an artificial implant, followed by the connection of abutments and crowns to restore the patient's chewing, appearance and other functions. Dental implants are the preferred method of restoring missing teeth and are known as the "third set of teeth" for humans after deciduous teeth and permanent teeth. The basic theory of implant restoration is derived from the oral implant "osseointegration" theory of Swedish Professor Branmark in the 1950s. The implant forms a good bone bond with the alveolar bone to obtain good stability of the implant, which is the basis for the success of oral implants.

Since the introduction of modern oral implantology, oral implant technology has made great progress. The current clinical implant operation techniques include free-hand operation, static navigation based on guides, dynamic navigation based on videos, and surgical robot implantation. Compared with the first three implant technologies, surgical robots have higher accuracy, stability and repeatability. Therefore, in recent years, oral implant robots have become an important development direction of implant surgery.

At present, surgical robots assisting oral implantation are mainly used in the hole preparation process. The essence of the process is to use a drill to drill and squeeze the bone tissue of the alveolar bone, which will generate a lot of heat. However, if the temperature of the bone tissue rises to above 47°C and lasts for 1 minute during the hole preparation process, it will cause thermal necrosis of the bone tissue, thereby affecting the formation of bone union. When the oral implant robot prepares holes, considering that drilling generates a lot of cutting heat, in order to control the temperature of the bone tissue, the hole preparation technology of step-by-step hole expansion with drill needles of different diameters is still used. That is, after positioning a small diameter such as a Ø2.0 pilot drill, the hole preparation operation is completed on the jaw by step-by-step hole expansion with twist drills of different diameters. At the same time, each drilling requires multiple pulling and drilling and flushing with cooling water. Therefore, the current hole preparation operation process is relatively complicated and inefficient. At the same time, it will also cause repeated positioning errors, deviate from the original plan, and it is difficult to ensure that the temperature of the bone tissue is within a safe range. The situation of bone tissue burns and necrosis and implant failure cannot be completely avoided. At the same time, the bone chips generated by drilling are washed away by a large amount of cooling water, making it difficult to collect and re-implant for use. In addition, soft tissue and foreign matter can be easily brought into the implant socket by the drill, causing infection and poor healing. Since manual operation cannot achieve complex and precise movements, it is only suitable to use drills to prepare holes of the same diameter; compared with manual operation, robots can achieve precise operations according to programmed trajectories, so it is possible to use small-diameter tools for spiral milling to prepare large-diameter cavities, which significantly improves the heat dissipation conditions in the prepared holes.

Chinese patent number CN103770223A discloses a nano-diamond coated tool and its application in oral restoration ceramic processing, including a blade and a handle, characterized in that: the tool is a ball-end milling cutter, the helix angle of the spiral groove of the blade is 30 degrees, and the blade length is 2mm; there is a V-shaped groove on the top of the tool blade, the angle between the V-shaped groove and the vertical direction of the tool center is α=1-5°, β=18-25°, the depth of the V-shaped groove changes with the tool diameter, and the V-shaped groove depth S value is 10-18% of the tool diameter Φ value; the blade of the tool is a nano-diamond coating, and the diameter of the nano-diamond particles is 20-50nm.

During use, the tool disclosed above needs to be pulled up and drilled multiple times and flushed with cooling water. There is a certain error in repeated positioning, causing the tool to deviate from the original plan, and it is also difficult to ensure that the temperature of the bone tissue is within a safe range. Bone tissue burns and necrosis, which in turn causes implant failure, cannot be completely avoided.

Based on the above situation, the present invention designs a drilling and milling composite tool for oral implantation, and proposes a spiral milling hole preparation technology for an oral implantation robot based on the tool.

Summary of the invention

The present invention aims to overcome the defects in the above-mentioned prior art and provide a drilling and milling composite tool for preparing holes for oral implant robots with high hole preparation efficiency, few pulling times, safety and reliability, and its application.

In order to achieve the above-mentioned invention objectives, the present invention adopts the following technical scheme: an oral implant robot hole preparation drilling and milling composite tool, comprising a connected tool handle and a tool rod, the tool rod is formed with a cortical bone forming edge, a serrated cutting edge and a main cutting edge arranged in sequence along the length direction of the tool rod, and the cortical bone forming edge, the serrated cutting edge and the main cutting edge are connected in sequence, and the main cutting edge is formed at the end of the tool rod; the diameters of the cortical bone forming edge, the serrated cutting edge and the main cutting edge are reduced in sequence; and a mounting slot is formed on the tool handle.

As a preferred solution of the present invention, the main cutting edge is a six-edge structure, and the six-edge structure of the main cutting edge is distributed along the circumference of the center of the end of the shank.

As a preferred solution of the present invention, the serrated cutting edge is formed on the outer surface of the tool rod, and the end of the serrated cutting edge is connected to the edge of the main cutting edge, and the serrated cutting edge is spirally arranged along the length direction of the tool rod.

As a preferred solution of the present invention, the cortical bone forming edge is formed on the outer surface of the arbor, and the end of the cortical bone forming edge is connected to the end of the serrated cutting edge. The cortical bone forming edge is spirally arranged along the length direction of the arbor.

As a preferred embodiment of the present invention, the helical angle of the cortical bone forming edge is consistent with the helical angle of the serrated cutting edge, and the helical line of the cortical bone forming edge is connected to the corresponding helical line of the serrated cutting edge.

As a preferred embodiment of the present invention, the height of the cortical bone forming blade is 2 mm.

An application system of a drilling and milling composite tool for preparing holes for an oral implant robot comprises a drilling and milling composite tool, a mechanical arm, an implant mobile phone, a control system and a positioning marker. The implant mobile phone is installed in a mounting slot, and the tool handle is connected to the implant mobile phone. The control system is electrically connected to the mechanical arm, and the positioning marker is electrically connected to the implant mobile phone.

As a preferred solution of the present invention, the robotic arm has six degrees of freedom, and the control system is connected to a display.

An application method of a drilling and milling composite tool for preparing a hole in an oral implant robot, including an application system of the drilling and milling composite tool, comprising the following steps:

S1: Data acquisition, analyze the patient's CT data and image software, select the corresponding implant model, and select the drilling and milling composite tool with appropriate diameter and length according to the implant model;

S2: Design implantation plan, analyze the patient's jaw bone volume, neural canal, adjacent teeth and other related tissues around the surgical area through CT data and image software, and formulate the movement path of the manipulator;

S3: planning the hole preparation trajectory, programming the hole preparation trajectory of the drilling and milling composite tool through the control system;

S4: Generate program instructions to debug and optimize the control system program;

S5: Perform surgical operation, wear the positioning marker in the patient's mouth, and adjust the position of the robotic arm in time according to the deviation of the positioning marker during the surgical operation of the robotic arm;

S6: observation and comparison, by comparing the formed cavity preparation hole with the pre-set cavity preparation hole;

S7: The process is finished, and the drilling and milling compound tool is removed from the implant mobile phone and disinfected.

As a preferred embodiment of the present invention, in S5, the cavity is firstly drilled by drilling. When the drilling and milling composite tool drills to the grinding flat drill part, the robotic arm adopts a spiral motion trajectory to prepare the dental implant cavity by spiral milling through the milling cutting edge. After the drilling and milling composite tool drills to the cortical bone forming edge part, the robotic arm stops moving and the cavity preparation is completed.

Compared with the prior art, the present invention has the following beneficial effects:

1. By arranging the cortical bone forming edge, serrated cutting edge and main cutting edge connected in sequence on the same tool bar, it is unnecessary to change the tool during the operation, thereby reducing the number of times the tool is lifted, and the drilling and milling composite tool does not need to be repeatedly positioned during use, which has better stability and accuracy, and also improves the hole preparation efficiency, reduces the robot repeated positioning error caused by drill changing during the process, and reduces the cumbersomeness of the hole preparation process;

2. By adopting spiral milling hole preparation technology, the amount of hole cutting is small, bone chips are not accumulated in the tool cutting groove, the heat accumulation around the tool is less than that of traditional twist drill drilling, and the heat transferred to the bone tissue is less, which improves the safety of the operation;

3. Through the setting of the positioning marker, the robot arm can adjust its position in time during the work process, and has better hand-holding stability;

4. The systematic setting greatly reduces the existing dental implant surgery's dependence on the doctor's experience and further improves the popularity of dental implants.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the structure of a drilling and milling compound tool;

FIG2 is a bottom view of the drilling and milling compound tool;

FIG3 is a schematic diagram of a system of the present invention;

FIG4 is a schematic diagram of a process flow of the present invention;

Figure 5 is the motion trajectory of the robotic arm;

FIG6 is a schematic diagram of the installation of a positioning marker;

Figure numerals: robotic arm 1, implant mobile phone 2, drilling and milling compound tool 3, tool handle 31, tool rod 32, main cutting edge 33, serrated cutting edge 34, cortical bone forming edge 35, mounting slot 36, control system 4, display 5, positioning marker 6.

Detailed ways

The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

As shown in Fig. 1-6, a composite tool for drilling and milling holes for oral implant robots includes a tool handle 31 and a tool rod 32 connected to each other, the tool rod 32 is formed with a cortical bone forming edge 35, a serrated cutting edge 34 and a main cutting edge 33 arranged in sequence along the length direction of the tool rod 32, and the cortical bone forming edge 35, the serrated cutting edge 34 and the main cutting edge 33 are connected in sequence, and the main cutting edge 33 is formed at the end of the tool rod 32; the diameters of the cortical bone forming edge 35, the serrated cutting edge 34 and the main cutting edge 33 are reduced in sequence; and a mounting slot 36 is formed on the tool handle 31.

The knife handle 31 and the knife rod 32 are an integrated structure. The knife rod 32 is arranged at the axial center of the knife handle 32. The cortical bone forming edge 35, the serrated cutting edge 34 and the main cutting edge 33 are formed at different positions of the knife rod 32. The main cutting edge 33 is located at the end of the knife rod 32. The cortical bone forming edge 35 is arranged close to the knife handle 31, and the serrated cutting edge 34 is arranged between the cortical bone forming edge 35 and the main cutting edge 33. During the cutting process of the knife rod 32, the main cutting edge 33, the serrated cutting edge 34 and the cortical bone forming edge 35 contact the patient in turn.

As the diameters of the cortical bone forming edge 35, the serrated cutting edge 34 and the main cutting edge 33 decrease in sequence, the main cutting edge 33 is positioned and punched. The main cutting edge 33 can perform plane grinding on the alveolar ridge, and the bottom surface of the main cutting edge 33 is in multi-point contact or surface contact with the alveolar ridge, which can prevent the drilling and milling composite tool from slipping. Subsequently, the serrated cutting edge 34 performs milling to remove the ground cortical bone and softer cancellous bone. Finally, the cortical bone forming edge 35 performs cutting to form a cavity that matches the diameter of the implant used.

The height of the drilling and milling compound tool formed by the tool handle 31 and the tool rod 32 is 15 mm, the diameter of the tool rod 32 is 1.5 mm, and the diameter of the cortical bone forming blade 35 is set according to the diameter of the required implant.

The main cutting edge 33 is a six-edged structure, and the six-edged structure of the main cutting edge 33 is distributed along the circumference of the center of the end of the shank 32. Under the action of the main cutting edge 33 with the six-edged structure, it is ensured that the main cutting edge 33 is in multi-point contact with the alveolar ridge, thereby increasing the contact area between the main cutting edge 33 and the alveolar ridge, preventing the main cutting edge 33 from slipping with the alveolar ridge, and making the drilling and milling composite tool have better stability during use.

The serrated cutting edge 34 is formed on the outer surface of the shank 32, and the end of the serrated cutting edge 34 is connected to the edge of the main cutting edge 33. The serrated cutting edge 34 is spirally arranged along the length direction of the shank 32, and the spacing between adjacent thread lines of the serrated cutting edge 34 is 0.25mm.

The cortical bone forming blade 35 is formed on the outer surface of the shank 32, and the end of the cortical bone forming blade 35 is connected to the end of the serrated cutting edge 34. The cortical bone forming blade 35 is spirally arranged along the length direction of the shank 32, and the height of the cortical bone forming blade 35 is 2 mm.

The helical angle of the cortical bone shaping edge 35 is consistent with the helical angle of the serrated cutting edge 34 , and the helical line of the cortical bone shaping edge 35 is connected to the corresponding helical line of the serrated cutting edge 34 .

An application system of a drilling and milling compound tool includes a drilling and milling compound tool, including a mechanical arm 1, an implant mobile phone 2, a control system 4 and a positioning marker 6, the implant mobile phone 2 is installed in a mounting slot 36, and the tool handle 31 is connected to the implant mobile phone 2, the control system 4 is electrically connected to the mechanical arm 1, and the positioning marker 6 is electrically connected to the implant mobile phone 2.

The robot arm 1 has six degrees of freedom, and the control system 4 is connected to a display 5 .

An application method of a drilling and milling compound tool, including an application system, comprises the following steps:

S1: Data acquisition, CT data and image software analysis of the patient. The doctor selects the implant model based on the patient's actual situation on the implant software, selects the corresponding implant model, and selects the drilling and milling composite tool with appropriate diameter and length based on the current implant model.

S2: Design the implant plan, analyze the patient's jaw bone mass, neural canal, adjacent teeth and other related tissues around the surgical area through CT data and image software, conduct preoperative diagnosis and surgical plan, set the implant steps, and plan the movement path of the implant robot arm from the initial position to the vicinity of the patient's mouth based on the diagnostic analysis.

Since it is a precise robotic surgery, the operation is performed using minimally invasive implant surgery, which means that there is no need to open a flap. Instead, the implant surgery is performed after a circular incision is made at the implant site to remove a small amount of gum.

S3: Planning the hole preparation trajectory, programming the hole preparation trajectory of the drilling and milling composite tool through the control system 4.

S4: Generate program instructions, debug and optimize the program of the control system 4, and use the control system 4 to write the corresponding human-machine collaborative implant surgery program according to the setting of the implant plan and the planned path of the robotic arm 1. After debugging and program optimization, the robotic arm 1 operates according to the set program.

S5: Perform surgical operation, wear the positioning marker 6 in the patient's mouth, and during the surgical operation of the robotic arm 1, adjust the position of the robotic arm 1 in time according to the offset of the positioning marker 6. Since the operation takes some time, the patient's head or body will actually have occasional micro-movements. The robotic arm 1 should quickly receive the position and coordinate change signals of the positioning marker 6 worn by the patient, and quickly make corresponding position adjustments through the feedback system, find the originally set implantation position, make difference compensation for the spiral motion trajectory, and accurately complete the next surgical process.

S6: Observation and comparison. By comparing the formed cavity preparation hole with the pre-set cavity preparation hole, if the clinic finds that the surgical plan needs to be adjusted, the intervention operation is performed to complete the operation. In general, the implant robot completes the entire implant surgery process independently. In order to prevent unexpected situations during clinical practice and the need to adjust the surgical plan, the doctor can stop the work of the robotic arm in an emergency and intervene in the operation according to the specific situation to complete the entire implant surgery process.

S7: The process ends, and the drilling and milling compound tool is removed from the implant mobile phone 2 and disinfected.

In S5, the cavity is first drilled by drilling. When the drilling and milling composite tool drills to the grinding flat drill part, the robot arm 1 adopts a spiral motion trajectory to prepare the implant cavity by spiral milling through the milling cutting edge. After the drilling and milling composite tool drills to the cortical bone forming edge 35, the robot arm 1 stops moving and the cavity preparation is completed.

The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention; therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Although the following terms are used more frequently in this article: mechanical arm 1, implant mobile phone 2, drilling and milling compound tool 3, tool handle 31, tool bar 32, main cutting edge 33, serrated cutting edge 34, cortical bone forming edge 35, mounting slot 36, control system 4, display 5, positioning marker 6, etc., the possibility of using other terms is not excluded. These terms are used only to more conveniently describe and explain the essence of the present invention; interpreting them as any additional limitation is contrary to the spirit of the present invention.

Claims (6)

1. The application system of the standby hole drilling and milling composite cutter of the oral cavity planting robot is characterized by comprising a drilling and milling composite cutter, a mechanical arm (1), a planting mobile phone (2), a control system (4) and a positioning marker (6), wherein the drilling and milling composite cutter comprises a cutter handle (31) and a cutter rod (32) which are connected, and the application system is characterized in that a cortical bone forming blade (35), a serrated cutting blade (34) and a main cutting blade (33) which are sequentially arranged along the length direction of the cutter rod (32) are formed on the cutter rod (32), and the cortical bone forming blade (35), the serrated cutting blade (34) and the main cutting blade (33) are sequentially connected, and the main cutting blade (33) is formed at the end part of the cutter rod (32); the diameter sizes of the cortical bone forming edge (35), the serrated cutting edge (34) and the main cutting edge (33) are sequentially reduced; the device is characterized in that an installation clamping groove (36) is formed in the cutter handle (31), the planting mobile phone (2) is installed in the installation clamping groove (36), the cutter handle (31) is connected to the planting mobile phone (2), the control system (4) is electrically connected with the mechanical arm (1), the positioning marker (6) is electrically connected with the planting mobile phone (2), and the mechanical arm (1) adopts a spiral line movement track to perform spiral milling on the planting dental cavity; the spiral angle of the cortical bone forming blade (35) is consistent with that of the serrated cutting blade (34), and the spiral line of the cortical bone forming blade (35) is connected with the corresponding serrated cutting blade (34) spiral line; the main cutting edge (33) can polish the plane of the alveolar ridge, and the bottom surface of the main cutting edge (33) is in multi-point contact or surface contact with the alveolar ridge; the serrated cutting edge (34) is formed on the outer surface of the cutter bar (32), the end part of the serrated cutting edge (34) is communicated with the edge of the main cutting edge (33), and the serrated cutting edge (34) is spirally arranged along the length direction of the cutter bar (32); the cortical bone forming blade (35) is formed on the outer surface of the cutter bar (32), and the end of the cortical bone forming blade (35) is communicated with the end of the serrated cutting blade (34), and the cortical bone forming blade (35) is spirally arranged along the length direction of the cutter bar (32).

2. The application system of the composite drilling and milling tool for the dental implant robot according to claim 1, wherein the mechanical arm (1) has six degrees of freedom, and the control system (4) is connected with a display (5).

3. The application system of the dental implant robot backup hole drilling and milling composite tool according to claim 1, wherein the main cutting edge (33) is of a six-edge structure, and the six-edge structure of the main cutting edge (33) is circumferentially distributed along the center of the end part of the tool bar (32).

4. The application system of the dental implant robotic backup hole milling composite cutter according to claim 1, wherein the height of the cortical bone forming blade (35) is 2mm.

5. An application method of a backup hole drilling and milling composite cutter of an oral cavity planting robot, comprising an application system of the drilling and milling composite cutter according to any one of claims 1-4, and the application method is characterized by comprising the following steps:

S1: the method comprises the steps of obtaining data, analyzing CT data and image software of a patient, selecting a corresponding implant model, and selecting a drilling and milling composite cutter with proper diameter and length according to the implant model;

s2: designing a planting scheme, analyzing the jaw bone quantity, nerve tubes and related tissue conditions around adjacent teeth of a patient operation area through CT data and image software, and making a movement path of a manipulator;

s3: planning a backup hole track, and programming the backup hole track of the drilling and milling composite cutter through a control system (4);

S4: generating program instructions, and debugging and optimizing the program of the control system (4);

S5: performing operation, namely wearing the positioning marker (6) in the oral cavity of a patient, and adjusting the position of the mechanical arm (1) in time according to the deviation of the positioning marker (6) in the operation of the mechanical arm (1);

S6: observing and comparing, namely comparing the formed hole with a preset hole;

s7: and (3) after the process is finished, the drilling and milling composite cutter is detached from the planting mobile phone (2) and is subjected to disinfection treatment.

6. The application method of the dental implant robot backup hole milling composite tool according to claim 5, wherein in the step S5, firstly, a drilling mode is adopted to drill the hole preliminarily, when the drilling and milling composite tool drills to a main cutting edge (33), the mechanical arm (1) adopts a movement track of a spiral line to perform spiral milling on the dental implant hole through a milling cutting edge, and after the drilling and milling composite tool drills to a cortical bone forming edge (35), the mechanical arm (1) stops moving, and hole preparation is completed.