CN114795540B - Mobile phone drill bit calibration device and method - Google Patents
Mobile phone drill bit calibration device and method Download PDFInfo
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- CN114795540B CN114795540B CN202210448269.0A CN202210448269A CN114795540B CN 114795540 B CN114795540 B CN 114795540B CN 202210448269 A CN202210448269 A CN 202210448269A CN 114795540 B CN114795540 B CN 114795540B
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 239000000523 sample Substances 0.000 claims abstract description 68
- 239000004053 dental implant Substances 0.000 claims description 9
- 238000012790 confirmation Methods 0.000 claims description 3
- 238000013461 design Methods 0.000 claims description 2
- 238000003754 machining Methods 0.000 abstract description 3
- 239000007943 implant Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000002513 implantation Methods 0.000 description 2
- 206010066902 Surgical failure Diseases 0.000 description 1
- 230000001055 chewing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 210000003781 tooth socket Anatomy 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
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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
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C3/00—Dental tools or instruments
- A61C3/02—Tooth drilling or cutting instruments; Instruments acting like a sandblast machine
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Health & Medical Sciences (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Dentistry (AREA)
- Epidemiology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of medical treatment, in particular to a mobile phone drill bit calibration device and a mobile phone drill bit calibration method. According to the invention, the spatial position of the center bottom point of the top groove is determined by combining the camera and the calibration probe through the top groove of the calibration device, the spatial position of the center bottom point of the top groove is related to the position of the tail end array, the spatial position of the working tip of the planting drill bit is converted into the spatial position of the working tip of the planting drill bit through the groove depth, so that the spatial position of the tip of the planting drill bit is related to the tail end array, and the machining error and the assembly error of a middle structural member between the mobile phone head and the tail end array are eliminated. In addition, the axial space position of the assembled drill bit can be actually detected through the calibration device, the camera and the calibration probe, so that the deflection angle of the planting drill bit when the subsequent mechanical arm drives the whole hand head and the tail end to move is calculated.
Description
Technical Field
The invention relates to the technical field of medical treatment, in particular to a mobile phone drill bit calibration device and method.
Background
The missing teeth can affect the chewing, pronunciation and appearance of a person, and seriously reduce the life quality of the patient, and the tooth implantation is an important means for repairing the missing teeth. The implant operation needs to drill holes on tooth sockets by using an implant mobile phone to meet the requirement of subsequent implant implantation, and is a very important ring in the oral implant operation.
Accuracy control is important for dental implant surgery, and it is likely that a small error will result in surgical failure, so that the calibration of the surgical instrument is a critical step. The dental implant handpiece has irregular appearance, errors exist in the processing and assembling processes, the position of the tail end of the surgical instrument can be inaccurately determined according to the dimension in the drawing, and the accurate position relationship is difficult to obtain by using the traditional measuring method.
The invention discloses a dental implant handpiece calibration system and a dental implant handpiece calibration method based on vision measurement, which can obtain a more accurate position calibration result of a drill bit at the tail end of a dental implant handpiece in an optical mark coordinate system of the dental implant handpiece, but has a complex structure and a complex calibration method.
Disclosure of Invention
The invention aims to overcome the defects of the conventional mobile phone drill bit calibration device and method described in the background art, and provides the mobile phone drill bit calibration device and method which are simple and practical in device and calibration method.
In order to achieve the above purpose, the invention is realized by adopting the following technical scheme: a mobile phone drill bit calibration device comprises a calibration device, a camera, a mobile phone head, a mobile phone fixing device, a drill bit, a tail end array and a calibration probe.
The top of the calibrating device can be inserted into the mobile phone head and fixed;
the mobile phone fixing device is used for fixing the mobile phone drill bit calibration device on the mechanical arm;
the camera can calculate the spatial position relation between the camera and the terminal array by detecting the terminal array;
the upper end of the calibration probe is provided with an array characteristic, and the camera can calculate the spatial position relationship between the camera and the array on the calibration probe by detecting the array;
the length of the calibration device and the drill bit is known.
Further, the top structure of the calibration device is a standard interface structure of a drill bit of a planting mobile phone, and the top of the calibration device can be inserted into the mobile phone head through a standard interface and is fixed by using a clamping groove in the mobile phone head.
Further, the calibration device top, bottom and bottom sides are provided with tapered groove features, and the tapered groove depth is known.
Further, a line between a bottom surface point of the top groove and a bottom surface point of the bottom groove of the calibration device is a central axis of the calibration device.
Further, the distance from the bottom of the conical recess of the bottom side of the calibration device to the central axis is known.
Further, the cell phone head is assembled with the tip array by a structural member.
The invention also provides a mobile phone drill bit calibration method, which is characterized by comprising the following steps:
determining the specific position of the drill tip in space by using the tip of the calibration probe to point at the bottom of the conical concave groove at the top of the calibration device;
determining the deflection angle of the drill bit by using the tip of the calibration probe to point at the bottom of the conical concave groove at the bottom of the calibration device;
and (3) using the tip of the calibration probe to point at the bottom point of the conical concave groove at the side edge of the bottom of the calibration device to verify whether the calibration is successful.
Alternatively, the method for determining the specific position of the drill tip in space by using the tip of the calibration probe to point at the bottom of the conical groove at the top of the calibration device comprises the following steps:
the tip of the calibration probe is used for pointing at the bottom point of the conical concave groove at the top of the calibration device;
the camera calculates the spatial position relation between the camera and the array on the calibration probe by detecting the array on the calibration probe;
calculating the spatial position of the calibration probe needle head, namely the spatial position of the bottom surface point of the conical groove at the top of the calibration device in the camera view angle;
the camera calculates the spatial position of the end array in the camera view angle by detecting the end array;
calculating the relative spatial position of the bottom surface point of the conical groove at the top of the calibration device and the tail end array;
the drill bit is provided with no groove and is a plane, and after the drill bit is assembled to the mobile phone head instead of the calibration device, the center point of the top surface of the drill bit is the bottom surface point of the conical groove at the top of the calibration device detected at present, and the depth of the conical groove is correspondingly raised on the central axis of the calibration device;
knowing the length of the drill bit, the spatial position of the drill tip within the camera field of view when the drill bit is in use can be calculated, i.e. the specific position of the drill tip within space is determined by calibration.
Further, the determining the deflection angle of the drill bit by the tip of the calibration probe pointing at the bottom of the conical groove at the bottom of the calibration device comprises:
the tip of the calibration probe is used for pointing at the bottom point of the conical concave groove at the bottom of the calibration device;
the camera calculates the spatial position relation between the camera and the array on the calibration probe by detecting the array on the calibration probe;
calculating the spatial position of the calibration probe needle head, namely the spatial position of the bottom surface point of the conical groove at the bottom of the calibration device in the camera view angle;
the space position of the central axis of the calibration device can be calculated through the positions of the bottom surface point of the top groove and the bottom surface point of the bottom groove of the calibration device;
the central axis of the drill bit assembled behind the handpiece head coincides with the central axis of the calibration device, and through the calibration, the deflection angle of the drill bit can be calculated when the dental implant is subsequently performed.
Further, the calibrating the probe tip with the point at the bottom point of the conical concave groove at the side edge of the bottom of the calibrating device, verifying whether the calibrating is successful comprises:
the tip of the calibration probe is used for carrying out secondary confirmation on the central axis of the calibration device by pointing at the bottom point of the conical concave groove at the side edge of the bottom of the calibration device;
because the distance from the bottom point of the conical groove at the bottom side of the calibration device to the central axis is known in design, the camera calculates and confirms whether the actually measured distance between the central axis of the calibration device and the bottom of the conical groove at the bottom side of the calibration device is within an allowable error range, and if the actually measured distance is within the allowable error range, the calibration is successful; otherwise, the calibration fails and the calibration needs to be repeated.
The invention provides a mobile phone drill bit calibration device and a mobile phone drill bit calibration method. According to the invention, the spatial position of the center bottom point of the top groove is determined by combining the camera and the calibration probe through the top groove of the calibration device, the spatial position of the center bottom point of the top groove is related to the position of the tail end array, the spatial position of the working tip of the planting drill bit is converted into the spatial position of the working tip of the planting drill bit through the groove depth, and therefore the spatial position of the tip of the planting drill bit is related to the tail end array through the calibration device and the method, and the machining error and the assembly error of a middle structural member between the mobile phone head and the tail end array are eliminated. In addition, the spatial axis position of the assembled drill bit can be actually detected through the combination of the camera and the calibration probe through the top groove, the bottom groove and the bottom side groove of the calibration device, so that the angle deflection of the planting drill bit when the subsequent mechanical arm drives the whole mobile phone head and the tail end to move is calculated.
Drawings
Features, advantages, and technical effects of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings.
FIG. 1 is a schematic view of the bottom structure of a calibration device according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the top structure of a calibration device according to an embodiment of the present invention;
FIG. 3 is a side cross-sectional view of a calibration device according to an embodiment of the present invention at an angle;
FIG. 4 is a side cross-sectional view of a calibration device according to an embodiment of the present invention at another angle;
FIG. 5 is a schematic view of a drill bit according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of the structure of a calibration probe according to an embodiment of the present invention;
FIG. 7 is a schematic illustration of an embodiment of the present invention calibrating a probe tip to a top tapered recess bottom point of a calibration device;
FIG. 8 is a schematic illustration of an embodiment of the present invention calibrating a probe tip to a bottom conical recess bottom point of a calibration device;
FIG. 9 is a schematic illustration of an embodiment of the present invention calibrating a probe tip to a bottom side tapered recess bottom point of a calibration device;
reference numerals illustrate: 1. a calibration device; 2. a camera; 3. a hand piece; 4. a mobile phone fixing device; 5. a drill bit; 6. an array of ends; 7. calibrating the probe; 101. a bottom tapered recess; 102. a top tapered recess; 103. a bottom side tapered recess; 701. an array.
Detailed Description
The following detailed description of embodiments of the invention and the accompanying drawings are provided to illustrate the principles of the invention and not to limit the scope of the invention, i.e. the invention is not limited to the described examples.
In the description of the present invention, it should be noted that, unless otherwise indicated, the meaning of "multiple" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," and the like are merely used for convenience in describing the present invention and to simplify the description, and do not denote or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "assembled" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention can be understood as appropriate by those of ordinary skill in the art.
For a better understanding of the invention, the calibration device and method of the invention are described in detail below with reference to the accompanying drawings.
As shown in fig. 1-9, the invention provides a mobile phone drill bit calibration device, which comprises a calibration device 1, a camera 2, a mobile phone head 3, a mobile phone fixing device 4, a drill bit 5, a tail end array 6 and a calibration probe 7.
Wherein, the top of the calibrating device 1 can be inserted into the mobile phone head 3 and fixed;
the mobile phone fixing device 4 is used for fixing the mobile phone drill bit calibration device on a mechanical arm;
the camera 2 may calculate a spatial positional relationship between the camera 2 and the tip array 6 by detecting the tip array 6;
the upper end of the calibration probe 7 is provided with an array characteristic, and the camera 2 can calculate the spatial position relation between the camera 2 and the array on the calibration probe 7 by detecting the array;
the length of the calibration device 1 and the drill bit 5 is known.
As an alternative embodiment, the top structure of the calibration device 1 is a standard interface structure of a drill bit of a planting mobile phone.
As an alternative embodiment, the top of the calibration device 1 may be inserted into the mobile phone head 3 through a standard interface and fixed by using a slot inside the mobile phone head 3.
Fig. 1 is a schematic view of the bottom structure of the calibration device 1 of the present invention, and fig. 2 is a schematic view of the top structure of the calibration device 1 of the present invention.
As shown in fig. 1 and 2, the bottom of the calibration device 1 has a conical groove 101, the bottom of which is marked as E, the top has a conical groove 102, the bottom of which is marked as F, the bottom side is provided with a conical groove 103, and the bottom of which is marked as G.
Fig. 3 is a side cross-sectional view of the calibration device 1 of the present invention at an angle.
As shown in fig. 3, the total length of the calibration device 1 is C, and the depth of the conical groove of the calibration device 1 is a.
As an alternative embodiment, the line between the bottom surface point E of the top conical recess 101 and the bottom surface point F of the bottom conical recess 102 of the calibration device 1 is the central axis of the calibration device 1.
Fig. 4 is a side cross-sectional view of the calibration device 1 of the present invention at another angle.
As shown in fig. 4, the distance D from the bottom surface point G of the bottom side conical groove 103 of the calibration device 1 to the central axis is D.
Fig. 5 is a schematic structural view of the drill bit 5 according to the present invention, and as shown in fig. 5, the drill bit 5 is shown to have a length B.
FIG. 6 is a schematic diagram of the structure of the calibration probe 7 according to the embodiment of the present invention.
As shown in fig. 6, the calibration probe 7 has a needle feature at the bottom and an array 701 at the top, and the relative position of the needle and the array 701 is known.
As an alternative embodiment, the handset head 3 is assembled with the tip array 6 by means of structural members.
As an alternative embodiment, the whole mobile phone drill bit calibration device is fixed on the mechanical arm through the mobile phone fixing device 4.
The invention also provides a mobile phone drill bit calibration method, which comprises the following steps:
using the tip of the calibration probe 7 to point at the bottom point E of the conical groove 101 at the top of the calibration device 1 to determine the specific position of the tip of the drill bit 5 in space;
determining the deflection angle of the drill bit 5 by using the tip of the calibration probe 7 to point at the bottom surface point F of the conical groove 102 at the bottom of the calibration device 1;
with the tip of the calibration probe 7, the bottom surface point G of the conical groove 103 on the bottom side of the calibration device 1 is marked to verify whether the calibration is successful.
As shown in fig. 7, the method for determining the specific position of the tip of the drill 5 in space by using the tip of the calibration probe 7 to point at the bottom point E of the conical groove 101 at the top of the calibration device 1 includes:
with the tip of the calibration probe 7, the point is at the bottom point E of the conical groove 101 at the top of the calibration device 1;
the camera 2 calculates a spatial positional relationship between the camera 2 and the array 701 on the calibration probe 7 by detecting the array 701 on the calibration probe 7;
calculating the space position of the needle head of the calibration probe 7, namely the space position of the bottom surface point of the conical groove 101 at the top of the calibration device 1 in the view angle of the camera 2;
the camera 2 calculates the spatial position of the tip array 6 within the field angle of the camera 2 by detecting the tip array 6;
calculating the relative spatial position of the end array 6 and the bottom surface point E of the top conical groove 101 of the calibration device 1;
the drill bit 5 has no groove and is a plane, and after the drill bit 5 is assembled to the mobile phone head 3 instead of the calibration device 1, the center point of the top surface of the drill bit is the bottom point of the conical groove 101 at the top of the calibration device 1 detected at present, and the conical groove depth A is correspondingly raised on the central axis of the calibration device 1;
knowing the length B of the drill bit 5, the spatial position of the tip of the drill bit 5 within the field angle of the camera 2 when the drill bit 5 is in use can be calculated, i.e. the specific position of the tip of the drill bit 5 within space is determined by calibration.
As shown in fig. 8, the determining the deflection angle of the drill bit 5 by using the tip of the calibration probe 7, which is at the bottom surface point F of the bottom conical groove 102 of the calibration device 1, includes:
with the tip of the calibration probe 7, a point is at the bottom surface point F of the bottom conical groove 102 of the calibration device 1;
the camera 2 calculates the spatial positional relationship between the camera 2 and the array 701 on the calibration probe 7 by detecting the array 701 on the calibration probe;
calculating the space position of the needle head of the calibration probe 7, namely the space position of the bottom surface point of the conical groove 102 at the bottom of the calibration device 1 in the view angle of the camera 2;
the spatial position of the central axis of the calibration device 1 can be calculated through the positions of the bottom surface point of the top conical groove 101 and the bottom surface point F of the bottom conical groove 102 of the calibration device 1;
the central axis of the drill bit 5 assembled to the handpiece 3 coincides with the central axis of the calibration device 1, and by this calibration, the deflection angle of the drill bit 5 can be calculated when the dental implant is subsequently performed.
As shown in fig. 9, the point of the needle tip of the calibration probe 7 is at the bottom surface point G of the conical groove 103 on the bottom side of the calibration device 1, and the verification of successful calibration includes:
using the tip of the calibration probe 7 to point at the bottom point G of the conical groove 103 at the side edge of the bottom of the calibration device 1, and performing secondary confirmation of the central axis of the calibration device 1;
the distance from the bottom surface point G of the bottom side conical groove 103 of the calibration device 1 to the central axis EF is D, and the camera 2 calculates and confirms whether the actually measured distance between the central axis EF of the calibration device 1 and the center bottom surface point G of the bottom side conical groove 103 of the calibration device 1 is within an allowable error range, if so, the calibration is successful; otherwise, the calibration fails and the calibration needs to be repeated.
The invention provides a mobile phone drill bit calibration device and a mobile phone drill bit calibration method. According to the invention, the spatial position of the center bottom point of the top groove is determined by combining the camera and the calibration probe through the top groove of the calibration device, the spatial position of the center bottom point of the top groove is related to the position of the tail end array, the spatial position of the working tip of the planting drill bit is converted into the spatial position of the working tip of the planting drill bit through the groove depth, and therefore the spatial position of the tip of the planting drill bit is related to the tail end array through the calibration device and the method, and the machining error and the assembly error of a middle structural member between the mobile phone head and the tail end array are eliminated. In addition, the spatial axis position of the assembled drill bit can be actually detected through the combination of the camera and the calibration probe through the top groove, the bottom groove and the bottom side groove of the calibration device, so that the angle deflection of the planting drill bit when the subsequent mechanical arm drives the whole mobile phone head and the tail end to move is calculated.
While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the respective embodiments may be combined in any manner as long as there is no structural conflict. The present invention is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.
Claims (7)
1. The mobile phone drill bit calibration device is characterized by comprising a calibration device, a camera, a mobile phone head, a mobile phone fixing device, a drill bit, a tail end array and a calibration probe;
the top of the calibrating device can be inserted into the mobile phone head and fixed;
the mobile phone fixing device is used for fixing the mobile phone drill bit calibration device on the mechanical arm;
the camera can calculate the spatial position relation between the camera and the terminal array by detecting the terminal array;
the upper end of the calibration probe is provided with an array characteristic, and the camera can calculate the spatial position relationship between the camera and the array on the calibration probe by detecting the array;
the length of the calibration device and the drill bit is known;
the top, bottom and bottom sides of the calibration device are provided with conical groove features, and the depth of the conical grooves is known;
the connecting line between the bottom surface point of the top groove and the bottom surface point of the bottom groove of the calibration device is the central axis of the calibration device;
the distance from the bottom surface point of the conical groove on the side surface of the bottom of the calibration device to the central axis is known;
the cell phone head is assembled with the terminal array through a structural member.
2. The mobile phone drill calibration device according to claim 1, wherein the top structure of the calibration device is a standard interface structure of a mobile phone drill, and the top of the calibration device can be inserted into the mobile phone head through a standard interface and fixed by using a clamping groove inside the mobile phone head.
3. A handpiece drill calibration device as recited in claim 1, wherein the calibration probe has a needle feature at a bottom end and an array feature at a top end, and wherein the relative positional relationship of the needle and the array of top ends is known.
4. A method for calibrating a pilot bit for use in the pilot bit calibration apparatus of claim 1, comprising:
determining the specific position of the drill tip in space by using the tip of the calibration probe to point at the bottom of the conical concave groove at the top of the calibration device;
determining the deflection angle of the drill bit by using the tip of the calibration probe to point at the bottom of the conical concave groove at the bottom of the calibration device;
and (3) using the tip of the calibration probe to point at the bottom point of the conical concave groove at the side edge of the bottom of the calibration device to verify whether the calibration is successful.
5. The method of calibrating a handpiece bit according to claim 4, wherein the determining the specific position of the tip of the bit in space by the tip of the calibration probe pointing at a point on the bottom of the conical recess at the top of the calibration device comprises:
the tip of the calibration probe is used for pointing at the bottom point of the conical concave groove at the top of the calibration device;
the camera calculates the spatial position relation between the camera and the array on the calibration probe by detecting the array on the calibration probe;
calculating the spatial position of the calibration probe needle head, namely the spatial position of the bottom surface point of the conical groove at the top of the calibration device in the camera view angle;
the camera calculates the spatial position of the end array in the camera view angle by detecting the end array;
calculating the relative spatial position of the bottom surface point of the conical groove at the top of the calibration device and the tail end array;
the drill bit is provided with no groove and is a plane, and after the drill bit is assembled to the mobile phone head instead of the calibration device, the center point of the top surface of the drill bit is the bottom surface point of the conical groove at the top of the calibration device detected at present, and the depth of the conical groove is correspondingly raised on the central axis of the calibration device;
knowing the length of the drill bit, the spatial position of the drill tip within the camera field of view when the drill bit is in use can be calculated, i.e. the specific position of the drill tip within space is determined by calibration.
6. The method of calibrating a handpiece bit according to claim 4, wherein the determining the angle of deflection of the bit by the tip of the calibration probe pointing at a point on the bottom of the conical recess in the bottom of the calibration device comprises:
the tip of the calibration probe is used for pointing at the bottom point of the conical concave groove at the bottom of the calibration device;
the camera calculates the spatial position relation between the camera and the array on the calibration probe by detecting the array on the calibration probe;
calculating the spatial position of the calibration probe needle head, namely the spatial position of the bottom surface point of the conical groove at the bottom of the calibration device in the camera view angle;
the space position of the central axis of the calibration device can be calculated through the positions of the bottom surface point of the top groove and the bottom surface point of the bottom groove of the calibration device;
the central axis of the drill bit assembled behind the handpiece head coincides with the central axis of the calibration device, and through the calibration, the deflection angle of the drill bit can be calculated when the dental implant is subsequently performed.
7. The method of calibrating a drill bit of a cell phone according to claim 4, wherein the calibrating the probe tip with the tip at the bottom of the conical recess of the bottom side of the calibrating device, the verifying whether the calibration is successful, comprises:
the tip of the calibration probe is used for carrying out secondary confirmation on the central axis of the calibration device by pointing at the bottom point of the conical concave groove at the side edge of the bottom of the calibration device;
because the distance from the bottom point of the conical groove at the bottom side of the calibration device to the central axis is known in design, the camera calculates and confirms whether the actually measured distance between the central axis of the calibration device and the bottom of the conical groove at the bottom side of the calibration device is within an allowable error range, and if the actually measured distance is within the allowable error range, the calibration is successful; otherwise, the calibration fails and the calibration needs to be repeated.
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| EP1269933A2 (en) * | 2001-06-21 | 2003-01-02 | Christian Edlhuber | Drill, osteotom and use thereof |
| WO2010104198A1 (en) * | 2009-03-13 | 2010-09-16 | 財団法人ヒューマンサイエンス振興財団 | Dental cutter |
| CN109077822A (en) * | 2018-06-22 | 2018-12-25 | 雅客智慧（北京）科技有限公司 | A kind of the dentistry plantation mobile phone calibration system and method for view-based access control model measurement |
| WO2020153410A1 (en) * | 2019-01-22 | 2020-07-30 | Ｓａｆｅ Ａｐｐｒｏａｃｈ Ｍｅｄｉｃａｌ株式会社 | Surgical procedure assistance system, treatment device, and plate |
| CN113633408A (en) * | 2021-07-30 | 2021-11-12 | 华南理工大学 | Optical navigation dental implantation robot system and calibration method thereof |
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| CN114795540A (en) | 2022-07-29 |
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