JP4908457B2 - Dental clinical and educational training simulation tracking system and its evaluation method - Google Patents

Description

  The present invention relates to a dental education evaluation apparatus and method, and more particularly, to a dental clinical and educational training simulation tracking system for evaluating a user's performance while assisting measurement of an operation area using an optical positioning apparatus and an evaluation method thereof.

  The training method for the dentist to create a tooth model is to place the target tooth model beside and contrast with the naked eye, and at the same time, shape the tooth model with the hand tool in the oral model of the human head and complete the tooth model after completion. Take out, the teacher will compare with the naked eye and determine whether the shape and size of the student after cutting match the criteria.

  Judgments on the similarity of tooth models often vary from person to person and are clearly subjective. Compared to the conventional method, the optical tracking system method allows a medical student to track the position of the hand tool at the same time as the tooth model is modeled with the hand tool, and the shape of the modeled tooth model is derived using a mathematical method. If a comparative analysis of errors is performed, a more objective result can be obtained.

  There are already existing techniques for tracking the position of medical equipment. For example, Chander's patent document 1, published on April 8, 1997, entitled "Collaborative Medical Equipment Image System and Method" (Imaging System Having Interactive Medical Instruments And Methods) describes the image system and method. Disclosure. This image system comprises a medical device body and a launching device that emits detectable energy. Further, the position of the medical device is detected using a detector and a processing device.

  In addition, Cosman's patent document 2, published on January 6, 2004, entitled “Optical Object Tracking System”, discloses an optical detection system that can be used to connect optically detectable instruments. It records the position in space. Several cameras are coupled with data processing devices, video scan data and graphic display devices associated with computers to locate instruments, targets, patients and devices in surgical, diagnostic and therapeutic settings.

  Patent documents 3 and 4 of Vilsmeier published on February 26, 2002 and February 22, 2005, and the invention name “Neuro-Navigation System” disclose a neuro-navigation system, which reflects it. Consists of equipment reference system. The reference system includes a main reflector and a marking system, and additional equipment or structures on the body and surgical instrument in surgical treatment help to accurately position.

  Vilsmeier, published on Oct. 28, 2003, entitled "Method And Device For The Navigation-Assisted Dental Treatment" supports the dental treatment. A method is disclosed. First, a set of 3D volumetric data sets is provided for the patient's teeth and lower jaw area. A computer assisted navigation or tracking system records the patient's tooth or mandibular area using the volume data set. That is, it is recorded on a medical instrument or device corresponding to the computer-aided navigation or tracking system.

  However, the prior art cannot be upgraded in combination with existing dental equipment. For example, it cannot be combined with an existing permanent dental operating table or a drill (hand tool), and the prior art cannot perform operation adjustment using user's habits. In addition, it is inconvenient to use an existing personal computer structure, and any of these results in an increase in costs for frequent system replacements, which in turn leads to the possibility of market restrictions.

Therefore, the movement tracking device that constructs the 3D surgical machine using the low-cost camera is upgraded by using the existing device, and it is conventionally automated in accordance with the user's operation habits (for example, left hand or right hand). Therefore, it is necessary to have a method for accuracy and convenience when a dentist trains.
U.S. Pat.No. 5,617,857 US Pat. No. 6,675,040 U.S. Pat.No. 6,351,659 US Patent No. 6859660 US Patent No. 6640128

  An object of the present invention is to position two cameras and a laser emitting unit using an optical tracking method, simplify the image processing process together with the use of spatial positioning technology, and a doctor can use a hand tool to create a tooth model. Is to provide a dental clinical and educational training simulation tracking system that is useful for tracking hand tool positions when tracing, and for saving usage history and improving missed usage history at a later date Another object of the present invention is to use dentist clinical training, operation and comparative assessment in addition to using an existing simulation or clinical system directly connected to the dental clinical or educational training simulation tracking system for upgrading. To provide a dental clinical and educational training simulation tracking system that can also be used directly in So and there is no need to replace any equipment, much can cost down, it tends to be more applicable to the use of education.

  To achieve the above objectives, the present invention provides a dental clinical and educational training simulation tracking system for a user to track a fixed position using a hand tool, which includes a hand tool sleeve, a positioning unit, an optical positioning module, an information processing module, and an information processing module. It comprises an apparatus and a display unit, and the hand tool sleeve is used to fit into the hand tool and has a plurality of positioning points. The positioning unit is for positioning the hand tool, and has a plurality of mark points and a suspension structure that can be fixed to the tooth model. The optical positioning module tracks the opposing movement between the hand tool and the operation area by detecting the position and angle of the hand tool sleeve and the position of the positioning unit, and includes at least two cameras. Aiming at the positioning unit and the hand tool sleeve, and connecting to the information processing apparatus to produce a picture by determining the mark point of the positioning unit and the positioning point on the hand tool sleeve, and further laser emitting unit The selected area is defined by emitting light rays in connection with the information processing apparatus. The information processing apparatus processes all signals of each member between the systems to construct coordinate points corresponding to all operation histories, and stores histories and results of all movement simulations. The display unit displays the movement, positioning of the hand tool and the result of the comparative assessment as the user operates the system.

  Another object of the present invention is to provide a method for evaluating dental clinical and educational training simulation tracking system, through which the conventional manual comparison method can be improved in an automated manner, and the determination by artificial subjectivity. By reducing mistakes, more accurately finding mistakes during training of dentists, improving convenience in training, and allowing dentists to more easily and repeatedly practice, it contributes to improving training of dentists. Moreover, this method is implemented by the following process. First, a dental model file to be examined is constructed through a dental clinical and educational training simulation tracking system. Subsequently, the tooth model file to be inspected through the system is quantized to determine whether there is a serious mistake. After determining that there is no mistake, a specific rule and a standard tooth model file are picked up from the database, and a cross-sectional comparison view of the standard tooth model file and the tooth model file to be inspected can be created. Then, the set feature point position is found on the standard tooth model file, and then the degree to which the feature point matches the specific rule is calculated. After the calculation, it is determined whether or not the next specific rule needs to be picked up, and finally the evaluation result is calculated.

  In order to further clarify the above-described contents and other objects, features, and advantages of the present invention, the following description will be given in detail with reference to the attached drawings, particularly referring to preferred features of the present invention.

[Embodiment 1]
FIG. 1 is a structural diagram of a dental clinical and educational training simulation tracking system apparatus according to the present invention. As shown in FIG. 1, a dental clinical operation tracking apparatus 500 which is a structural diagram of this apparatus further includes an optical positioning module 100 and a positioning unit 300. , The hand tool 400 and the hand tool sleeve 200. The apparatus 500 is further connected to the information processing apparatus and the display unit, but is not shown.

  The optical positioning module 100 includes at least two cameras 110 and 112 for aiming at the positioning unit 300 and the hand tool sleeve 200, and is connected to an information processing apparatus so that the mark point 310 on the positioning unit 300 and the hand tool sleeve A positioning point on 200 is obtained, and an image is generated. Further, a laser emitting unit 114 is included, and the cameras 110 and 112 are fixed to both sides of the horizontal axis 116 and connected to the information processing apparatus to emit light. The selected area is defined and fixed on the horizontal axis 116. Further, in this embodiment, the horizontal axis 116 can be adjusted left and right and up and down according to user's habits and work needs. By adjusting, the cameras 110 and 112 and the laser emitting unit 114 are set to preferred positions for optical positioning. The laser emitting unit 114 is installed between the cameras 110 and 112, and the detection range of the cameras 110 and 112 is divided to enhance the effect of the optical positioning module 100.

  The positioning unit 300 is provided with a plurality of mark points 310 and a suspension structure that can be fixed to the tooth model. The suspension unit is fixed to one of the left and right sides outside the tooth model, and the tooth model is positioned in the operation area. can do. The positioning unit 300 can be selectively fixed to the left and right sides of the tooth model, and both can realize the same positioning function, so that it can be adapted to the user's operating habits (for example, the left hand or right hand is used). And that it does not affect the positioning function is worth taking up. In addition, the positioning unit 300 has at least four light emitting diodes (LEDs) or marking points 310 generated from optical reflection marks. The tooth model is configured to move and position the hand tool sleeve 200 in the tooth model according to the coordinate axis of the positioning unit 300 by a registration function.

  The hand tool 400 is fitted and fixed to the hand tool sleeve 200. The hand tool sleeve 200 is provided with a plurality of positioning points, and the hand tool 400 is opposed to the movement of the tooth model operation area through the hand tool sleeve 200. Positioning. The hand tool 400 is used for dental clinical operations and is an electric or pneumatic drill or a drill tool necessary for dental operation, but is also a clinical tool necessary for dentistry, and positioning of the hand tool is used for the hand tool sleeve 200. In this case, since it is not necessary to replace the entire set of specific hand tools, the possibility of implementing the system is increased due to the cost reduction.

  The information processing apparatus processes all signals of each member between the apparatuses, constructs corresponding coordinate points in all operation histories, saves all movement simulation histories and results, and optical positioning module 100. It is used to realize the arithmetic method used for the above-mentioned operation, reads the data transmitted from the cameras 110 and 112, positions the hand tool sleeve 200 in accordance with the specific arithmetic method required by the present invention, The object of the present invention is realized by positioning the movement state of the tooth model operation area of the tool 400, and further, the display unit displays the movement and positioning of the hand tool and the comparative evaluation result of the user operating the system. .

  In the present invention, the information processing apparatus is connected to the cameras 110 and 112 through a video pickup card by a personal computer, and software having a function for realizing the specific calculation method is realized by the personal computer. In addition to providing the necessary power to the laser emitting unit 114, the laser emitting unit 114 is connected to the information processing apparatus. It is worth taking up that the information processing device can transmit information to the display unit to visualize the coordinate relationship of positioning or display the scoring result on the display unit.

  However, in the above-described embodiment, it is necessary to pay attention only to the point where the present invention launches and presents the presentation point, and further includes the dental clinical and educational training simulation tracking system, and the dental clinical and educational training simulation. The tracking system includes members such as the dental clinical operation tracking device 500, a tooth model, a display unit, a lighting arm set, and a light emitting unit. However, since the members such as the hand tool 400 (drill), display unit, illumination arm set, and light source are usually provided in the conventional dental clinical equipment, the following matters are already special when the present invention is conceived. Planning. That is, the dental clinical operation tracking apparatus 500 can be implemented by combining with the existing clinical equipment, and it is not necessary to purchase and replace related dental equipment as a set. The existing simulation or clinical system, which is one of the goals of the present invention, can be directly connected to the dental clinical and educational training simulation tracking system to be upgraded by combining with the dental clinical operation tracking apparatus 500. Realize.

  In addition, the dental clinical and educational training simulation tracking system provided by the present invention is used for dentist training and skill evaluation, and can also be applied to dental clinical operations. Further, due to the characteristic that the lighting arm and the positioning device are interchangeable left and right, the present invention is further applicable to the user's special operation habits, and it is not necessary to make a special adjustment for that purpose.

  In order to realize the positioning, the dental clinical and educational training simulation tracking system starts from the light spot image picked up by the cameras 110 and 112, and the spatial positions of the positioning unit 300 and the hand tool sleeve 200 are calculated. A series of computations are performed until the two positions are associated with each other, and the facing position of the hand tool sleeve 200 is obtained with the positioning unit 300 as a reference. Finally, the registered coordinates of the hand tool 400 are written and converted to obtain a fixed position of the hand tool 400.

  An illumination arm set secures the optical positioning module 100 in place and a light emitting unit secures the illumination arm to provide the necessary light source for the dental clinical and educational training simulation tracking system.

  FIG. 2 is a schematic view of a hand tool sleeve according to the present invention. The hand tool sleeve 200 has a substantially cylindrical shape and is used for fitting into the hand tool 400. Therefore, when the optical positioning module 100 determines the position of the hand tool sleeve 200, the position of the hand tool can be known. As shown in the figure, the plurality of positioning points of the hand tool sleeve 200 are divided into an upper positioning point group 210 and a lower positioning point group 212, and the positioning points are light sources of specific wavelengths, A light emitting diode (LED) can be installed. According to a particular embodiment of the invention, the light emitting diode can be an infrared light emitting diode or can be replaced by an optical reflective mark. According to another embodiment of the present invention, the hand tool sleeve 200 has a total of 18 positioning points in the upper positioning point group 210 and 18 positioning points in the lower positioning point group 212. It arrange | positions along the periphery of the tool sleeve 200 on an average, and if an example is given, it will arrange | position one every 40 degree | times. In this way, at any viewing angle, at least three positioning points in the upper positioning point group 210 and at least three positioning points in the lower positioning point group 212 can be visually recognized. In addition, the upper positioning point group 210 and the lower positioning point group 212 on the hand tool sleeve 200 have an annular arrangement, and the positioning points on the upper positioning point group 210 and the lower positioning point group 212 are not arranged on the same straight line. By adopting the state of the arrangement and the cross arrangement, the upper or lower light emitting diode is prevented from being simultaneously shielded.

  FIG. 3 is referred to for a developed view of positioning points on the side of the hand tool sleeve 200. FIG. 3 is a distribution diagram of positioning points on the hand tool sleeve of the present invention. Has a special geometry. The corresponding points in the upper and lower rows are a pair. In any case, the optical positioning modules 100 can jointly and continuously obtain three pairs (or more) of light spots. According to the arrangement of FIG. 3, the upper row and the lower row can be defined, and it is possible to know how many angles each light spot has. As a result, the rotation direction and position of the two cameras 110 and 112 in the coordinate system of the hand tool sleeve 200 main body can be defined. After obtaining the orientation of the hand tool sleeve 200 and the reference coordinates, the orientation of the hand tool sleeve 200 can be converted into a reference coordinate system.

  Based on the foregoing, those skilled in the art can understand that the optical positioning module 100 can calculate the 3D position of the hand tool sleeve 200 by the upper positioning point group 210 and the lower positioning point group 212.

  FIG. 4 is a schematic view of a positioning unit 300 according to the present invention. When following the tooth profile, the patient's head may move slightly. Therefore, in order to accurately track the position of the teeth, the positioning unit 300 is installed on the gums of the patient. Further, the positioning unit 300 has a plurality of mark points 310, for example, four mark points. Four light emitting diodes are arranged on the mark point 310. Similarly, the mark point 310 may be an infrared light emitting diode. Thus, those skilled in the art will appreciate that the optical positioning module 100 can track the position of the positioning unit 300 and at the same time calculate the position opposite the positioning unit 300 of the dentist hand tool. it can.

  FIG. 5 is a schematic view in which a positioning unit and a hand tool sleeve according to the present invention are combined. The positioning unit 300 is located at the hand tool position 400, and its use in the registration area of the operation area is as shown in FIG. .

  There are four marking points 310 on the positioning plate 320 of the positioning unit 300, and there is one small hole in the middle of the marking point 310. The size is just the size that the drill of the hand tool 400 can pass through. The positioning unit 300 can support the hand tool 400 with a fixed pedestal attached to the outside, and the height is just large enough to allow a drill at the end of the hand tool 400 to pass through a center hole. The flat surface where the end of the tool 400 and the drill are joined can be made perpendicular to the reference coordinate by axially attaching the positioning unit 300 to the reference coordinate.

  Once the optical positioning module 100 performs positioning, the light spot of the infrared LED lamp or optical reaction mark on the reference positioning unit 300 and the light spot of the infrared LED lamp or optical reaction mark on the hand tool sleeve 200 are captured, By calculating the opposed positional relationship, the relationship between the axial direction of the drill and the hand tool sleeve 200 can be positioned, and the operation area and the positioning unit 300 can be subsequently registered. The unit 300 is connected in principle to capture the infrared LED without obstructing the optical positioning module 100, and is further regarded as a rigid body, and the opposing relationship between the two is unchanged.

  In this embodiment, a computer 3D stereoscopic visual model is already constructed in advance and can be displayed on the display unit. The computer 3D stereoscopic visual model in the operation area and the real operation area have several standard points corresponding to each other. Therefore, in this embodiment, the position of the hand tool end drill after calibration is positioned with respect to several standard points on the real operation area, and the spatial point position facing the positioning unit 300 is calculated. be able to. After obtaining the several spatial point positions, the spatial coordinate position of the corresponding computer 3D operation area model can be changed to a position where the opposing relation between the real operation area and the reference coordinates is the same, thus Registration of the positioning unit 300 is completed.

  FIG. 6 shows the coordinate system construction method disclosed in the present invention. Before constructing the coordinate system, it is necessary to first calculate the spatial position of each mark point 310. The main flowchart is as shown in the figure, and the following steps are performed. Including.

  First, the left and right images are digitized (step 610), that is, the left and right images divided by the laser emitting unit 114 are digitized (that is, converted into a binary system). Subsequently, the image position of the light spot is calculated (step 620), and the image position is compensated for lens distortion (step 630). That is, the image point is further divided into two sets of spatial coordinates and hand tool sleeves by defect compensation (step). 640), the angle arrangement is performed on the two sets of video points (step 650), the start corresponding points of the left and right videos are found (step 660), and the left and right video points are paired in order (step 670). The missing video points are deleted (step 680), and finally the spatial coordinates and the spatial coordinates of the hand tool sleeve are calculated (step 690). Through the above process, the reference coordinates and the position of the mark point 310 of the hand tool sleeve 200 can be calculated. The image can be divided into reference coordinates and the mark point group of the hand tool sleeve 200 through calculation. Subsequently, the position of the reference point of the reference coordinates is calculated.

  FIG. 7 is an application schematic diagram of the dental clinical and educational training simulation tracking system according to the present invention. As shown in the figure, this figure shows a mode in which this system is completely applied. Consists of an optical positioning module 100, a hand tool sleeve 200, a positioning unit 300, a hand tool 400, a tooth model 500, a display unit 520, an illumination arm set 530, a light emitting unit 540, and a pedestal 550, all of which have already been described above. Thus, although not a luxury here, this figure embodies a complete system and clearly shows the connection between the members.

  Next, FIG. 8 is an evaluation rule construction flowchart of the evaluation method of the dental clinical operation simulation tracking according to the present invention.

  As shown in the figure, a standard tooth model file is first constructed through a dental clinical and educational training simulation tracking system (step 700). After the construction is completed, an existing tooth model file is created through a dental clinical and educational training simulation tracking system. Build (step 710), set the cross-sectional position and angle to be sampled (step 720), and upon confirmation, create a cross-sectional comparison of the standard tooth model file and the existing tooth model file (step) 730), the important position or angle evaluated in the cross-sectional comparison diagram is set (step 740), a specific rule is created and stored in the database (step 750), and finally whether a new evaluation rule is to be created or not is determined. Judgment (step 760), and if it is necessary to continue to build a new evaluation rule, return to step 720 If you do not need to build a new evaluation terminates the flowchart.

  FIG. 9 is a flowchart of the evaluation method of the dental clinical and educational training simulation tracking system according to the present invention.

  As shown in the figure, first, a dental model file to be inspected through a dental clinical and educational training simulation tracking system is constructed (step 800), and the tooth model file to be inspected through the system is quantized (step 810). Further, it is determined whether or not there is a serious mistake (step 820). The so-called serious mistake means that the user has any one of the following situations in the cutting process. That is, the adjacent tooth is damaged, the pulp of the tooth is damaged, and the area other than the tooth is cut. If a serious error occurs, the flowchart is directly terminated. If a serious error has not occurred, a specific rule and a standard tooth model file are picked up from the database (step 830), and the standard A cross-sectional comparison diagram of the tooth model file to be inspected and the tooth model file to be inspected (step 840). In this step, the cutting amount, cutting depth and cutting angle in the user's process are emphasized, and then the standard model file is checked. In the tooth model file, one set feature point is found (step 850), and when the feature point is found based on the specific rule determined by each different feature point, the feature point matches the specific rule. (Step 860), and after the calculation is completed, it is not necessary to pick up the next specific rule If it is necessary to pick up the next specific rule (step 870), the process returns to step 830, and if it is not necessary to pick up the next specific rule, the evaluation result is calculated (step 880). This flowchart is ended.

  By the above disclosed method, the cutting and polishing situation of the tooth can be simulated. In accordance with the dentist's curriculum allocation, the dental mold required by the apprentice is modeled, and the training system performs simulation and scoring. However, of course, the present invention is not limited to this. The positioning and combination of coordinates disclosed in the present invention, and the utilization of information obtained thereby should be considered as already disclosed in the present invention. For example, the digitization of coordinate information enables both hand tool operation and scoring by long-distance network transmission and monitoring control.

Through the system disclosed in the present invention, medical staff can operate equipment with both hands, left-handed and right-handed, and upgrade half of existing medical facilities, and the equipment is clinical It can be used in conjunction with a calibration program.
Although the present invention has already been disclosed by the preferred embodiments, it is not intended to limit the present invention, and various changes and modifications can be made by those skilled in the art without departing from the spirit and scope of the present invention. Accordingly, the scope of protection of the present invention shall be based on that defined in the appended claims.

1 is a structural diagram of a dental clinical and educational training simulation tracking system apparatus according to the present invention. FIG. 1 is a schematic view of a hand tool sleeve according to the present invention. It is a distribution map of the positioning point on the development plane of the hand tool sleeve surface concerning the present invention. It is the schematic of the positioning unit which concerns on this invention. It is the schematic which the positioning unit and hand tool sleeve which concern on this invention couple | bonded. It is a flowchart of the coordinate system construction method disclosed by the present invention. It is an application schematic diagram of a dental clinical and educational training simulation tracking system according to the present invention. It is an evaluation rule construction flow chart of an evaluation method of dental clinical operation simulation tracking concerning the present invention. It is a flowchart of the evaluation method of the dental clinical and educational training simulation tracking system which concerns on this invention.

Explanation of symbols

100 Optical positioning module 110 Camera 112 Camera 114 Laser emitting unit 116 Horizontal axis 200 Hand tool sleeve 210 Upper positioning point group 212 Lower positioning point group 300 Positioning unit 310 Mark point 320 Positioning plate
400 Hand tool 500 Clinical operation tracking device 510 Dental model 520 Display unit 530 Illuminating arm set 540 Light emitting unit 550 Base 610 Digitization of left and right images 620 Calculate the image position of the light spot 630 Image position compensation for lens distortion 640 Image point 650 is divided into two sets of spatial coordinates and hand tool sleeves 650 Angles are arranged in two sets of video points 660 Find the start corresponding point of the left and right video 670 Paired left and right video points in order 680 Not paired Delete image points 690 Calculate spatial coordinates and hand tool sleeve spatial coordinates 700 Build standard dental model file through dental clinical and educational training simulation tracking system 710 Dental clinical and educational training simulation tracking system Next, construct an existing tooth model file 720 Set the cross-sectional position and angle to be sampled 730 Create a cross-sectional comparison diagram of the standard tooth model file and the existing tooth model file 740 In the cross-sectional comparison diagram Established important positions or angles evaluated 750 Create specific rules and store them in database 760 Continue to determine whether to build new evaluation rules 800 Tooth model to be examined through dental clinical and educational training simulation tracking system Build a file 810 Quantize the tooth model file to be inspected through the system 820 Judge whether there is a serious error 830 Pick up a specific rule and standard tooth model file from a database 840 The standard tooth model File and said Create a cross-sectional comparison diagram of the existing tooth model file 850 Find the set feature point position on the standard tooth model file 860 Calculate the degree to which the feature point matches the specific rule 870 Next specific rule 880 to determine if it is not necessary to pick up

Claims (12)

A dental clinical and educational training simulation tracking system,
A positioning unit having a plurality of marking points and a suspension structure capable of fixing a tooth model;
While providing a plurality of positioning points, a hand tool sleeve that fits into the hand tool,
An information processing device that performs processing of all signals between each component of the system, constructs coordinate values corresponding to all operation histories, and stores history and results of all operation simulations;
A display unit for displaying the results of operation, positioning, and rating of the user operating the system;
Including at least two cameras, aiming at the positioning unit and the hand tool sleeve, and connected to the information processing device, from the mark point on the positioning unit and the positioning point on the hand tool sleeve An optical positioning module for acquiring images;
A laser emitting unit connected to the information processing apparatus to emit light and demarcate an operation area;
The plurality of positioning points of the hand tool sleeve are divided into an upper positioning point group and a lower positioning point group, and each point group is arranged in a longitudinal direction on a development plane of the surface of the hand tool sleeve. A pair of points on the direction line are arranged in pairs,
And in any of the above point groups, the upper side is not arranged on the same straight line perpendicular to the longitudinal direction on the development plane of the surface of the hand tool sleeve , but by adopting a shifted arrangement state and a cross arrangement state. A dental clinical and educational training simulation tracking system, wherein a positioning point group and the lower positioning point group are not simultaneously shielded. The dental clinical and educational training simulation tracking system according to claim 1, wherein the positioning unit has at least four light emitting diodes (LEDs) or marking points arising from optical reflection marks. The tooth model can be operated and positioned in the tooth model of the hand tool sleeve by registering the position coordinates of each part by a registration function according to the coordinate axis of the positioning unit. The dental clinical and educational training simulation tracking system according to claim 1. The dental clinical and educational training simulation tracking system according to claim 1, wherein the upper positioning point group and the lower positioning point group are annularly arranged on the surface of the hand tool sleeve. 2. The dental clinic according to claim 1, wherein the plurality of positioning points of the hand tool sleeve and the plurality of mark points of the positioning unit are either light emitting diodes (LEDs) or optical reflection marks. And education training simulation tracking system. 2. The dental clinical and educational training simulation tracking system according to claim 1, wherein the system further includes an illumination arm set to lock the optical positioning module in place. The dental clinic and education according to claim 6, wherein the illumination arm set further includes a light emitting unit, and is fixed to the illumination arm set to provide a light source necessary for the dental clinical and educational training simulation tracking system. Training simulation tracking system. 2. The dental clinical and educational training simulation tracking system according to claim 1, wherein the hand tool is for dental clinical operation and is one of an electric drill and an air drill. A dental clinical and educational training simulation tracking system,
A positioning unit provided with a suspension structure that can be fixed to a tooth model while providing a plurality of marking points;
While providing a plurality of positioning points, a hand tool sleeve that fits into the hand tool,
The hand tool for dental clinical operation, which is an electric or air drill;
The position model of each part is registered by a registration function according to the coordinate axis of the positioning unit, so that the tooth model can be operated and positioned in the tooth model of the hand tool sleeve, and
An information processing device that performs processing of all signals between each component of the system, constructs coordinate values corresponding to all operation histories, and stores history and results of all operation simulations;
A display unit for displaying the result of operation of the hand tool, positioning, and a user operating the system;
Including at least two cameras, aiming at the positioning unit and the hand tool sleeve, and connected to the information processing apparatus, and images from the mark point of the positioning unit and the positioning point on the hand tool sleeve An optical positioning module to obtain,
A laser emitting unit that is connected to the information processing device and emits light to define an operation area; and
An illumination arm set that fixes the optical positioning module in place;
A light emitting unit fixed to the lighting arm set to provide a light source necessary for the dental clinical and educational training simulation tracking system;
The plurality of positioning points of the hand tool sleeve are divided into an upper positioning point group and a lower positioning point group, and each point group is arranged in a longitudinal direction on a development plane of the surface of the hand tool sleeve. A pair of points on the direction line are arranged in pairs,
And in any one of the above point groups, by disposing them on the same plane that is perpendicular to the longitudinal direction on the development plane of the surface of the hand tool sleeve , adopting a shifted arrangement and a cross arrangement , A dental clinical and educational training simulation tracking system characterized in that the upper positioning point group and the lower positioning point group are not simultaneously shielded. 10. Dental clinical and educational training simulation tracking system according to claim 9, wherein the positioning unit has at least four light emitting diodes (LEDs) or marking points arising from optical reflection marks. 10. The dental clinical and educational training simulation tracking system according to claim 9, wherein the upper positioning point group and the lower positioning point group are annularly arranged on the surface of the hand tool sleeve, respectively. The plurality of positioning points of the hand tool sleeve and the plurality of mark points of the positioning unit are light sources of a specific wavelength, and a light emitting diode (LED) lighting fixture can be installed in the light source. The dental clinical and educational training simulation tracking system according to claim 9.

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