Dental implantation system and navigation method

A dental implantation system, comprising:

• a multi-axis robotic arm;
• a dental implantation device connected to an action end of the multi-axis robotic arm;
• and
• a sensor disposed on the dental implantation device to detect a sensed measurement;
• wherein the multi-axis robotic arm drives the dental implantation device undergoing a reciprocating motion along a predetermined path in an implant-receiving region of an implant-receiving patient according to a pre-implantation plan until dental implantation drilling is complete,
• wherein the pre-implantation plan comprises at least one predetermined relay point associated with the predetermined path and determined according to at least one of a bone density in the implant-receiving region and a length of the predetermined path;
• wherein the dental implantation device is driven to move along the predetermined path in the implant-receiving region and retreat from the predetermined path both upon arrival at the at least one predetermined relay point and when the sensed measurement exceeds a threshold;
• wherein when the sensed measurement exceeds the threshold, the multi-axis robotic arm drives the dental implantation device to retreat from the dental implantation path and thereby return to the predetermined entry point position and computes a drilling unit displacement and updates the predetermined relay point anew.

A dental implantation navigation method, for guiding movement of a dental implantation device along a predetermined path in an implant-receiving region in a dental implantation system, the method comprising:

• obtaining, by the dental implantation system, a pre-implantation image information about the implant-receiving region;
• constructing, by the dental implantation system, a 3D model of the implant-receiving region from the pre-implantation image information;
• creating, by the dental implantation system, a pre-implantation plan according to the pre-implantation image information and the 3D model, wherein the pre-implantation plan comprises a predetermined entry point associated with the predetermined path, at least one predetermined relay point associated with the predetermined path, and a predetermined target point associated with the predetermined path;
• obtaining, by the dental implantation system, a real-time image information about the implant-receiving region;
• generating, by the dental implantation system, a position transformation information according to at least one initial feature point included in the pre-implantation image information and at least one first feature point included in the real-time image information, so as to align a first position displayed in the real-time image information with a second position displayed in the pre-implantation image information;
• and
• driving, by the dental implantation system, the dental implantation device to undergo a reciprocating motion along the predetermined path in the implant-receiving region according to the pre-implantation image information, the real-time image information, the position transformation information, and the pre-implantation plan,
• detecting, by a sensor disposed on the dental implantation device to detect a sensed measurement;
• wherein the dental implantation system drives the dental implantation device to retreat from the predetermined path both when the dental implantation device moves to the at least one predetermined relay point or the predetermined target point according to the pre-implantation plan and when the sensed measurement exceeds a threshold;
• wherein when the sensed measurement exceeds the threshold, the dental implantation device retreat from the dental implantation path and thereby return to the predetermined entry point position and computes a drilling unit displacement and updates the predetermined relay point anew.