| Loss of teeth can affect chewing,pronunciation,appearance,and digestive system functions,seriously decreasing the quality of life of patients.The total number of missing teeth in China's population is 1.01 billion,Although dental implants are the preferred clinical repair method for patients with missing teeth in the world,the number of implants implanted is only about 2 million per year in China.At present,dental implant operation mainly includes free hand,guidance by static and dynamic navigation.Among them,free hand operation mainly relies on experience of dentist,while surgery guided by static and dynamic navigation still requires dentists to perform operations,and there is space for improvement in automation and flexibility in surgery.With the deepening of research on surgical robotics technology and its wide application in the fields of brain surgery and intra-abdominal surgery,robotic dental implant surgery has also received more and more attention,which is important research significance for improving the automation and intelligence level of dental implant technology.At present,the research and application of robotic dental implant technology are very preliminary,mainly focusing on experimental research in the anterior region,and there is still no in-depth study on robotic surgery in the posterior tooth missing region,surgical positioning and motion planning of robotic implant surgery.(1)The needs of dental implant surgery were analyzed in this paper,and the robotic dental implant surgery system was build by using UR5 robot and robot development platform ROS.And based on the clinical characteristics of dental implants,the motion safety of the system is analyzed and improved.(2)The obstacles in the dental implant surgery room were analyzed,and the method of creating the dental implant surgery scene was proposed.(3)The robotic movement path of dental implant surgery were divided into three different stages: the outside of the mouth,oral cavity and drilling.Three kinds of trajectory motion control methods of robot terminal were analyzed.The method that combine hybrid terminal trajectory combining workspace planning with Cartesian space planning Motion control was used.(4)In the posterior tooth missing area to be planted,the positioning method combining the template and the positioning bracket is adopted,and the digital planting scheme is designed to accurately obtain the implant position of the implant in the local coordinate system,which is determined according to the robot end effector(tooth drill).And feedback the coordinates of the positioning bracket,and finally get the implant posture coordinates(position and angle)of the implant under the base mark.(5)The planning success rate and search speed of the algorithm in the surgical path motion planning library OMPL were analyzed in the three-dimensional space scene,and select the RRT_Star algorithm suitable for robot implants to complete the autonomous implant surgery.(6)Firstly,the robotic implant dental test platform was build,and then the preparation experiment were completed,a high-precision scanner further was used to obtain the jaw model(with the calibration rod inside the hole),finally,the error was measured.The results show the average difference of the implant position deviation and the depth deviation.It is 1.038 mm,0.264 mm,meets the clinical requirements,and initially verifies the accuracy of the robotic implant surgery system and the feasibility of the surgical method. |
PDF Full Text Request