JP2012252232A - Oral cavity organizer for robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an oral cavity organizer for a robot which can be put on and taken off easily in an oral region of the robot for medical simulation, can cover the surface of an upper jaw and a lower jaw surely to have an external appearance close to a real human body, can maintain a feeling of strain of a person of training and attempt improvement of a skill, is superior in practicability, can prevent false saliva or false blood from entering a mechanism part and collect the false saliva or the false blood easily and surely, is superior in handling characteristics and usability, can be exchanged in the breakage in a short time by the person of training, and is superior in workability of assembling and disassembling and maintenance.SOLUTION: An oral cavity organizer for a robot comprises an oral cavity formation part which is formed in a shape of a bag having flexibility and elasticity and can be put on and taken off easily in an oral region, and a tongue-shaped hollow protruding portion which is formed integrally with the oral cavity formation part and covers a false tongue mechanism part arranged in the oral region.

Description

  The present invention relates to an oral cavity forming body for a robot that is formed to imitate a living body and is suitably used for a medical simulation robot that can perform medical training, medical examination, and the like in a state close to actual treatment.

In the conventional medical training device, the human body model does not move like an actual patient, so the situation and treatment at the site are greatly different, and there is a problem that the practical training cannot be performed for the practitioner. .
For example, during actual dental treatment, the position and size of the mouth and the presence of the tongue have significant restrictions on the visual information and work direction for treatment, and the patient's head and tongue are irregular. And the head and tongue may move reflexively when teeth are cut. However, in the training using the conventional medical training device, there is no movement of those patients, and it has not been possible to train how to deal with or cope with the movement. In order to receive training corresponding to the actual human body, there is no choice but to rely on volunteers, etc., but practical training using such a human body is difficult for students who do not have a dentist license. . Moreover, the necessity for improvement is calculated | required with respect to granting a dentist license only by the training using the above-mentioned human body model.
As a countermeasure for such inconvenience, for example, (Patent Document 1) includes “a robot main body having a treatment unit imitating a predetermined part of a living body, and a control means for controlling the operation of the robot main body. Detecting means for detecting an inappropriate treatment state with respect to the treatment section, the robot body includes an oral cavity portion provided with artificial teeth constituting the treatment section, and the detection means is in contact with a cutting tool for dental treatment The contact sensor is embedded in the artificial tooth and / or provided in the cheek of the mouth, and the control means is inappropriate for the detection means during the simulated treatment of the treatment part. In other words, a medical simulator is disclosed in which a robot main body is operated in a manner similar to the action of a living body when an inappropriate treatment is actually performed when an appropriate treatment state is detected.

Japanese Patent No. 4247819

However, the above conventional technique has the following problems.
(1) (Patent Document 1) is intended for the detection of inappropriate treatment and the reproduction of biological responses to inappropriate treatment. Practices and tests are performed to actually treat the human body. In order to improve the skills of the trainees, sufficient consideration has not been given to the workability and maintenance of assembly and disassembly.
(2) In particular, the upper and lower dentition models are placed directly on the upper and lower jaws, and the upper and lower dentition models are simply blocked by the cheeks from both the left and right sides, so that simulated saliva, simulated blood, etc. When using the robot, there is a problem that it is easy to enter the mechanism portion of the robot body, the recovery mechanism becomes complicated, the recovery takes time, and the handling property is lacking.
(3) Also, the upper and lower jaw surfaces of the robot body are exposed in the oral cavity, and the appearance is artificial, which is different from the actual human body. There was also a problem of becoming.

  The present invention solves the above-described problem, and can be easily attached to and detached from the mouth of a medical simulation robot, and can reliably cover the surfaces of the upper and lower jaws to bring the appearance closer to an actual human body. It is possible to maintain the tension of the practitioner, to perform practical training in accordance with the reality, to improve the skill, excellent in practicality, and prevent intrusion into the mechanism part such as pseudo saliva and pseudo blood, An oral cavity forming body for robots that can be easily and reliably collected, has excellent handling and usability, and can be replaced in a short time by a trainee in the event of damage, and has excellent assembly and disassembly workability and maintainability. The purpose is to provide.

In order to solve the above problems, the oral cavity forming body for robots of the present invention has the following configuration.
The oral cavity forming body for a robot according to claim 1 of the present invention is a robot oral cavity forming body used for a medical simulation robot having a mouth part imitating a living body, and is flexible and stretchable. An oral cavity forming part formed in a bag-like shape that is detachably attached to the mouth part, and a tongue-like part that is formed integrally with the oral cavity forming part and that is disposed on the mouth part. And a hollow protrusion.
This configuration has the following effects.
(1) The surface of the upper and lower jaws of the medical simulation robot can be covered by having an oral cavity forming part that is formed in a flexible and stretchable bag shape and is detachably attached to the mouth. When conducting practical training or testing, the inside (mechanism) of the medical simulation robot is not exposed to the oral cavity, and the appearance of the oral cavity can be brought closer to the actual human body, giving the trainer a sense of tension. It can be maintained, and practical training and testing can be carried out so that treatment is actually performed on the human body, so that the skill of the trainee can be improved and practicality is excellent.
(2) Since the oral cavity forming part has flexibility and stretchability, the oral cavity forming part can be expanded and contracted according to opening and closing of the mouth part, and the oral cavity forming part does not hinder the operation of the mouth part, Excellent operation reliability and usability.
(3) Since the oral cavity forming part is formed in a bag shape, it is easy to store pseudo saliva or pseudo blood inside the oral cavity forming part or pseudo saliva or pseudo blood collected inside the oral cavity forming part. It can be discharged to the outside of the oral cavity forming part, can be practiced in accordance with reality, and is excellent in handleability.
(4) Since the tongue-like hollow projection portion is formed integrally with the oral cavity forming portion and is disposed on the mouth portion, the pseudo-tongue mechanism portion is protected by the tongue-like hollow projection portion. It is possible to prevent breakage of the pseudo-tongue mechanism part during practical training or examination, and it is excellent in usability.
(5) Since the tongue-like hollow protrusion is integrally formed with the flexible and stretchable oral cavity forming portion, the tongue-like hollow protrusion does not hinder the operation of the pseudo-tongue mechanism, and the tongue The hollow protrusion can be operated like an actual tongue, and the reliability and reproducibility of the operation are excellent.
(6) Since the oral cavity forming part and the tongue-like hollow protrusion part are integrally formed, not only is the attachment / detachment to the mouth part easy, but there is no seam between the oral cavity forming part and the tongue-like hollow protrusion part, Pseudo saliva, pseudo blood, etc. do not leak to the outside and do not enter the inside (mechanism part) of the robot for medical simulation, and are excellent in water tightness and reliability of protection of the mechanism part.
(7) The mouth surface of the robot body can be protected by the oral cavity forming body for the robot, and the mechanical part is not exposed to the oral cavity, and the mechanical part can be prevented from being damaged or malfunctioning. Excellent operational stability and reliability.

Here, the molding material for the oral cavity forming body for robots is such that it does not hinder the opening and closing of the mouth (up and down movement of the upper and lower jaws) and the movement and rotation of the pseudo-tongue mechanism part before and after, up and down, left and right. What is necessary is just to have flexibility and a stretching property. Specifically, a soft material such as silicon is preferably used. The oral cavity forming body for a robot does not need to be uniformly formed as a whole, and may have a difference in flexibility and stretchability by changing the thickness depending on the location.
The robot oral cavity forming body only needs to be attached to and detached from the mouth (between the upper jaw and the lower jaw) of the robot for medical simulation, and the fixing location and fixing method can be appropriately selected. For example, a surface fastener or a magnet may be attached between the outer surface of the oral cavity forming body for a robot and a predetermined portion (for example, the upper jaw or the lower jaw) of the inner surface of the mouth of the medical simulation robot, A metal piece may be disposed on the outer surface of the oral cavity forming body for a robot and screwed to a predetermined portion of the medical simulation robot. In addition, the periphery of the opening of the oral cavity forming body for the robot is folded outward, and the upper and lower jaws of the robot for medical simulation are wrapped around, and the peripheral edge of the oral cavity forming body for the robot is clamped with a clamp or the like. Also good.

In order to discharge pseudo saliva or pseudo blood into the oral cavity, a discharge port may be formed in the oral cavity forming body for the robot.
In addition, when the simulated saliva is discharged into the oral cavity, the surface of the oral cavity forming body for the robot is subjected to a hydrophilic treatment so that the entire internal surface of the oral cavity is wet with the simulated saliva, or a hydrophilic layer or a water absorbing layer is applied. Or may be formed. As a result, practical training and examinations can be performed in a state close to the inside of the oral cavity of the actual human body, and the practitioner can acquire more reliable techniques and is excellent in practicality.

Invention of Claim 2 is the oral cavity formation body for robots of Claim 1, Comprising: The said oral cavity formation part is an upper jaw side mounting part with which the upper jaw part of the said mouth is mounted | worn; And a lower jaw side mounting portion mounted on the lower jaw.
With this configuration, in addition to the operation of the first aspect, the following operation is provided.
(1) Since the oral cavity forming part has an upper jaw side mounting part to be mounted on the upper jaw part of the mouth and a lower jaw side mounting part to be mounted on the lower jaw part of the mouth part, the oral cavity forming part can be easily moved up and down. It can be securely fixed to the upper and lower jaws, has excellent detachability, and can expand and contract both sides of the oral cavity to match the vertical movement of the upper and lower jaws. It does not hinder the opening and closing operation of the, and is reliable and stable in operation.

  Here, the upper jaw side mounting portion and the lower jaw side mounting portion may be fixed directly to the upper jaw portion or the lower jaw portion by clamping or sticking using the oral cavity forming portion as they are, or disposed in the oral cavity forming portion. It may be fixed to the upper jaw portion or the lower jaw portion by screwing, fitting, magnetic attachment, etc. using a metal piece or a magnet plate.

Invention of Claim 3 is the oral cavity formation body for robots of Claim 2, Comprising: The upper jaw side mounting part by which the upper jaw side mounting part is arrange | positioned on the outer surface of the oral cavity formation part, An upper jaw holding part that is arranged on the inner surface of the oral cavity forming part and holds the oral cavity forming part together with the upper jaw side fixing part, and the lower jaw side mounting part is disposed on the outer surface of the oral cavity forming part The lower jaw side fixing part and the lower jaw side clamping part which is arranged on the inner surface of the oral cavity forming part and clamps the oral cavity forming part together with the lower jaw side fixing part are provided.
With this configuration, in addition to the operation of the second aspect, the following operation is provided.
(1) An upper jaw side fixing portion that is disposed on the outer surface of the oral cavity forming portion, and an upper jaw side holding portion that is disposed on the inner surface of the oral cavity forming portion and holds the oral cavity forming portion together with the upper jaw side fixing portion. A mandibular side fixing part disposed on the outer surface of the oral cavity forming part, and a lower jaw side sandwiching the oral cavity forming part together with the lower jaw side fixing part disposed on the inner surface of the oral cavity forming part By providing the holding portion, the upper jaw side and the lower jaw side of the oral cavity forming portion can be reinforced, and the shapes of the upper jaw side mounting portion and the lower jaw side mounting portion can be stabilized, and the handleability is excellent.
(2) Since the maxillary side mounting part and the mandibular side mounting part have the maxillary side fixing part and the mandibular side fixing part, respectively, the attachment and detachment to the maxillary part and the mandibular part of the medical simulation robot can be performed easily and reliably. Excellent workability and maintenance during assembly and disassembly.
(3) Since the maxillary side mounting part and the mandibular side mounting part have an maxillary side clamping part and a mandibular side clamping part, respectively, the dental model can be easily attached and detached using these, and various dental model Excellent exchanging workability.

  Here, the shapes of the upper jaw side fixing portion, the lower jaw side fixing portion, the upper jaw side holding portion, and the lower jaw side holding portion are appropriately selected according to the shapes of the upper jaw portion, the lower jaw portion, and the dentition model of the medical simulation robot. be able to. Moreover, although these materials can be selected suitably, metals, such as aluminum, an aluminum alloy, and stainless steel, synthetic resins, such as PC, PVC, PP, and PE, etc. are used suitably.

Invention of Claim 4 is the oral cavity formation body for robots of any one of Claim 1 thru | or 3, Comprising: It has the structure provided with the discharge part formed in the said oral cavity formation part. ing.
With this configuration, in addition to the operation of any one of claims 1 to 3, the following operation is provided.
(1) By providing a discharge part formed in the oral cavity forming part, pseudo saliva, pseudo blood, etc. accumulated in the oral cavity forming part during practical training can be easily and reliably discharged outside the oral cavity forming part. Excellent in usability.

Here, the discharge unit can be appropriately selected in shape, number, arrangement, etc. according to the application of the robot for medical simulation to which the oral cavity forming body for a robot is attached. The drainage pipe, the pseudo esophagus part, the pseudo trachea Either end can be inserted and connected. When it is made into the shape which has a discharge hole in the bottom part side (mandibular side) of an oral cavity formation part, it is excellent in discharge property. In particular, when formed to mimic the throat of a human body, practical training and testing can be performed so that the human body is actually treated, and the functionality and usability are excellent.
When the robot has a drain pipe connected to the discharge part of the oral cavity forming body for the robot, pseudo saliva or pseudo blood collected in the oral cavity formation part can be easily and reliably discharged to the outside of the oral cavity formation part. It is excellent in usability.
In addition, when the robot has a pseudo esophagus part or a pseudo trachea connected to the discharge part of the oral cavity forming body for the robot, it can be used not only for dental treatment but also for practical training such as treatment and surgery for the esophagus part and the trachea. It is particularly suitable for practical training such as tracheal intubation and endoscopy, and has excellent functionality and versatility.

According to invention of Claim 1, it has the following effects.
(1) When performing practical training or examination, the inside (mechanism) of the medical simulation robot is not exposed to the mouth, and practical training or certification is performed so that treatment is actually performed on the human body. It is possible not only to improve the skills of the trainees, but also to easily attach and detach the mouth, leaking simulated saliva or simulated blood to the outside, and the inside of the medical simulation robot (mechanism) It is possible to provide an oral cavity forming body for robots that can prevent intrusion into the robot and is excellent in handleability and water tightness.

According to invention of Claim 2, in addition to the effect of Claim 1, it has the following effects.
(1) The upper and lower portions of the oral cavity forming part can be easily and reliably fixed to the upper jaw part and the lower jaw part, and is excellent in detachable workability, and can expand and contract and deform following the movement of the upper jaw part and the lower jaw part. It is possible to provide an oral cavity forming body for a robot that is excellent in the reliability and stability of the operation without hindering the opening / closing operation of the mouth.

According to invention of Claim 3, in addition to the effect of Claim 2, it has the following effects.
(1) The upper jaw side and lower jaw side of the oral cavity forming portion can be reinforced to stabilize the shapes of the upper jaw side mounting portion and the lower jaw side mounting portion, and can be attached to and detached from the upper jaw portion and lower jaw portion of the medical simulation robot. It is possible to provide an oral cavity forming body for a robot excellent in handling, assembly and disassembly workability, and maintenance that can be easily and reliably performed.

According to invention of Claim 4, in addition to the effect of any one of Claims 1 thru | or 3, it has the following effects.
(1) To provide an oral cavity forming body for a robot excellent in usability and maintainability that can easily and surely discharge pseudo saliva, pseudo blood, and the like accumulated inside the oral cavity forming section to the outside of the oral cavity forming section. Can do.

Schematic perspective view of oral cavity forming body for robot according to Embodiment 1 (A) Schematic front view of oral cavity forming body for robot of embodiment 1 (b) Schematic cross-sectional view taken along line AA in FIG. (A) Schematic plan view of oral cavity forming body for robot of Embodiment 1 (b) BB schematic cross-sectional view of FIG. 3 (a) (A) Front center vertical schematic cross-sectional view showing a state where the upper jaw side mounting portion and the lower jaw side mounting portion are mounted on the oral cavity forming portion of the oral cavity forming body for the robot according to the first embodiment. (B) The oral cavity for the robot according to the first embodiment. Schematic cross-sectional view of the fixed part between the oral cavity forming part and the maxillary side mounting part and the mandibular side mounting part of the molded body (A) Magnified view of part C in FIG. 4 (b) (b) Magnified view of part D in FIG. 4 (b) (A) Model front view which shows the state which attached the oral cavity formation body for robots of Embodiment 1 to the opening | mouth part of the robot for medical simulations. (B) EE typical arrow end view of Fig.6 (a). (A) Model side view which shows the state which attached the oral cavity formation body for robots of Embodiment 1 to the mouth part of the robot for medical simulations. (B) FF line | wire arrow schematic end view of Fig.7 (a) (A) Schematic front view of oral cavity forming body for robot of Embodiment 2 (b) GG line arrow schematic sectional view of FIG. 8 (a)

(Embodiment 1)
The oral cavity formation body for robots in Embodiment 1 of this invention is demonstrated below, referring drawings.
FIG. 1 is a schematic perspective view of the oral cavity forming body for a robot according to the first embodiment.
In FIG. 1, reference numeral 1 denotes an oral cavity forming body for a robot according to the first embodiment that is detachably disposed in a mouth portion of a medical simulation robot formed to imitate a living body, and 2 has flexibility and stretchability. The oral cavity forming part 1 of the robot oral cavity forming body 1 formed in a bag shape with a soft material such as silicon, 2a is an opening part of the oral cavity forming part 2, 3 is integrally formed with the oral cavity forming part 2, and is a robot for medical simulation Tongue-shaped hollow protrusions that are covered by the pseudo-tongue mechanism disposed at the mouth of the mouth, 5 are two upper surface fixing holes formed in the upper surface of the oral cavity forming part 2, and 6 is the lower surface of the oral cavity forming part 2 It is a long hole-like lower surface fixing hole drilled in.

FIG. 2A is a schematic front view of the oral cavity forming body for a robot according to the first embodiment, and FIG. 2B is a schematic cross-sectional view taken along the line AA in FIG. FIG. 3A is a schematic plan view of the oral cavity forming body for a robot according to the first embodiment, and FIG. 3B is a schematic cross-sectional view taken along line BB in FIG.
2 and 3, 3 a is a hollow portion of the tongue-shaped hollow protrusion 3 (FIG. 2B, FIG. 3B), and 4 is suspended from the inner upper surface of the central portion in the width direction of the oral cavity forming portion 2. The formed pseudo uvula, 5a is a thick part formed stepwise on the outer surface of the upper surface fixing hole 5 on the inner surface side of the oral cavity forming portion 2, and 6a is a lower surface fixing hole 6 on the outer surface side of the oral cavity forming portion 2. It is the thick part formed in the step shape on the outer periphery.

Next, an upper jaw side mounting portion and a lower jaw side mounting portion for mounting the oral cavity forming body for a robot according to the first embodiment on the mouth portion of the medical simulation robot will be described.
FIG. 4A is a front center vertical schematic cross-sectional view showing a state where the upper jaw side mounting portion and the lower jaw side mounting portion are mounted on the oral cavity forming portion of the oral cavity forming body for the robot according to Embodiment 1, and FIG. FIG. 3 is a schematic cross-sectional view showing a fixed part between the oral cavity forming part, the upper jaw side mounting part, and the lower jaw side mounting part of the oral cavity forming body for a robot according to the first embodiment.
In FIG. 4, reference numeral 10 denotes a metal upper jaw side mounting portion mounted on the upper jaw portion of the mouth of the medical simulation robot, and 11 denotes an upper jaw side of the upper jaw side mounting portion 10 disposed on the outer surface of the oral cavity forming portion 2. The fixed part 12 is arranged on the inner surface of the oral cavity forming part 2 and the upper jaw side holding part 10 that holds the oral cavity forming part 2 together with the upper jaw side fixing part 11. The upper jaw side clamping part 12 a is a dental model on the upper jaw side holding part 12. 20 is a metal mandibular side mounting portion that is mounted on the lower jaw portion of the mouth of the medical simulation robot, and 21 is a lower jaw side mounting that is disposed on the outer surface of the oral cavity forming portion 2. The lower jaw side fixing part 22 of the part 20 is arranged on the inner surface of the oral cavity forming part 2, and the lower jaw side holding part 20 that holds the oral cavity forming part 2 together with the lower jaw side fixing part 21, 22 a is the lower jaw side clamping part It is a fitting hole for positioning 22 dentition models .

Next, the detail of the fixed part of the oral cavity formation part of the robot oral cavity formation body of Embodiment 1 and the upper jaw side mounting part and the lower jaw side mounting part is demonstrated.
FIG. 5A is an enlarged schematic view of a C portion in FIG. 4B, and FIG. 5B is an enlarged schematic view of a D portion in FIG. 4B.
In FIG. 5A, 13 is a fitting convex portion formed on the lower surface side of the upper jaw side fixing portion 11 corresponding to the position of the upper surface fixing hole 5 of the oral cavity forming portion 2, and 13 a is the position of the fitting convex portion 13. Corresponding to the concave portion formed on the upper surface side of the upper jaw side fixing portion 11, 13 b is a screw insertion hole drilled in the central portion of the fitting convex portion 13, and 14 is the position of the upper surface fixing hole 5 of the oral cavity forming portion 2. Corresponding to the cylindrical fitting recess formed on the upper surface side of the upper jaw-side clamping portion 12 and inserted through the upper surface fixing hole 5 to fit the fitting convex portion 13 of the upper jaw side fixing portion 11, and 14a is a fitting recess. A female screw portion 15 formed at the center of 14 is inserted into the screw insertion hole 13b of the fitting convex portion 13 from the concave portion 13a of the upper jaw side fixing portion 11, and is screwed to the female screw portion 14a of the upper jaw side holding portion 12. It is a fixed screw.
In FIG. 5B, two cylindrical shapes 23 are formed on the upper surface side of the lower jaw side fixing portion 21 corresponding to the positions of both side portions of the lower surface fixing hole 6 of the oral cavity forming portion 2 and are inserted into the lower surface fixing hole 6. 23a is a female screw portion formed at the center of the fitting recess 23, and 24 is a lower surface of the lower jaw holding portion 22 corresponding to the positions of both side portions of the lower surface fixing hole 6 of the oral cavity forming portion 2. 24a is a concave portion formed on the upper surface side of the lower jaw side clamping portion 22 corresponding to the position of the fitting convex portion 24, and 24b. Is a screw insertion hole drilled in the central portion of the fitting convex portion 24, and 25 is a female screw of the lower jaw side fixing portion 21 that is inserted from the concave portion 24 a of the lower jaw side holding portion 22 into the screw insertion hole 24 b of the fitting convex portion 24. It is a fixed screw screwed to the portion 23a.

The upper surface part and the lower surface part of the oral cavity forming part 2 are respectively connected to the upper jaw side mounting part 10 (upper jaw side fixing part 11 and upper jaw side clamping part 12) and the lower jaw side mounting part 20 (lower jaw side fixing part 21 and lower jaw side clamping part 22). When sandwiched, the thick portions 5a and 6a formed on the outer periphery of the upper surface fixing hole 5 and the lower surface fixing hole 6 of the oral cavity forming portion 2 serve as packing, and are excellent in water tightness.
In order to improve water tightness, the outer peripheral portions of the upper surface fixing hole 5 and the lower surface fixing hole 6 are made harder than other portions of the oral cavity forming portion 2, or an O-ring or the like is separately provided as a packing. May be.

The usage method of the oral cavity formation body for robots comprised as mentioned above is demonstrated.
6 (a) is a schematic front view showing a state in which the oral cavity forming body for a robot according to Embodiment 1 is attached to the mouth of the robot for medical simulation, and FIG. 6 (b) is an EE view of FIG. 6 (a). FIG. 7A is a schematic end view taken along the line arrow, and FIG. 7A is a schematic side view showing a state in which the oral cavity forming body for a robot according to the first embodiment is attached to the mouth of the robot for medical simulation, and FIG. FIG. 8 is a schematic end view taken along line FF in FIG.
6 and 7, 30 is the mouth of the medical simulation robot to which the robot oral cavity forming body 1 of the first embodiment is attached, 31 is the upper jaw of the mouth 30, and 32 is the lower jaw of the mouth 30 ( 6 (a), 7 (a)), 32a is a pivot shaft (FIGS. 6 (a), 7 (a)) for supporting the lower jaw portion 32 on the upper jaw portion 31 freely, and 33 is for a robot. The pseudo-tongue mechanism part (FIG. 6 (b)) of the robot for medical simulation inserted through the hollow part 3a of the tongue-like hollow projection part 3 of the oral cavity forming body 1, 34 is the upper jaw side fixing part 11 of the oral cavity forming body 1 for robot. , 35 and 36 are dentitions that are detachably magnetically attached to the upper jaw-side clamping portion 12 and the lower jaw-side clamping portion 22 of the oral cavity forming body 1 for the robot. The model 35a is projected from the upper surface of the dentition model 35 and is fitted in the fitting hole 12 of the upper jaw side clamping part 12. The mated positioning projection, 36a are fitted onto the positioning projection into the fitting hole 22a of the lower jaw side holding portion 22 projecting from the lower surface of the dental cast 36.

The oral cavity forming body 1 for the robot can be easily attached to and detached from the mouth portion 30 of the medical simulation robot by screwing with a fixing screw 34, and the maintenance is excellent.
Moreover, the upper jaw side clamping part 12 and the lower jaw side clamping part 22 of the oral cavity forming body 1 for a robot have the fitting holes 12a and 22a, so that the positioning projections 35a and 36a of the upper and lower dentition models 35 and 36 are fitted. Therefore, it can be positioned easily and has excellent workability.
The tip of the pseudo-tongue mechanism 33 is driven by a motor, a piston cylinder, or the like, and rotated in the left-right direction or the up-down direction, whereby the tongue-like hollow protrusion 3 can be operated like a tongue of an actual human body. .
In this embodiment, the mechanism other than the mouth 30 of the medical simulation robot is omitted. However, in response to the practitioner's therapeutic action, the eyelid opening / closing movement, the vertical movement of the eyeball and the entire head, and the horizontal direction Various movements, such as exercise, can be performed.

As explained above, the robot oral cavity forming body according to Embodiment 1 has the following actions.
(1) The surface of the upper and lower jaws of the medical simulation robot can be covered by having an oral cavity forming part that is formed in a flexible and stretchable bag shape and is detachably attached to the mouth. When conducting practical training or testing, the inside (mechanism) of the medical simulation robot is not exposed to the oral cavity, and the appearance of the oral cavity can be brought closer to the actual human body, giving the trainer a sense of tension. It can be maintained, and practical training and testing can be carried out so that treatment is actually performed on the human body, so that the skill of the trainee can be improved and practicality is excellent.
(2) Since the oral cavity forming part has flexibility and stretchability, the oral cavity forming part can be expanded and contracted according to opening and closing of the mouth part, and the oral cavity forming part does not hinder the operation of the mouth part, Excellent operation reliability and usability.
(3) Since the oral cavity forming part is formed in a bag shape, pseudo saliva, pseudo blood, etc. can be easily stored in the oral cavity forming part, or pseudo saliva, pseudo blood, etc. accumulated in the oral cavity forming part can be easily It can be discharged to the outside of the forming section and is excellent in practical training and handling.
(4) Since the tongue-like hollow projection portion is formed integrally with the oral cavity forming portion and is disposed on the mouth portion, the pseudo-tongue mechanism portion is protected by the tongue-like hollow projection portion. It is possible to prevent breakage of the pseudo-tongue mechanism part during practical training or examination, and it is excellent in usability.
(5) Since the tongue-like hollow protrusion is integrally formed with the flexible and stretchable oral cavity forming portion, the tongue-like hollow protrusion does not hinder the operation of the pseudo-tongue mechanism, and the tongue The hollow protrusion can be moved like an actual tongue, and the operation is highly reliable and reproducible.
(6) Since the oral cavity forming part and the tongue-like hollow protrusion part are integrally formed, not only is the attachment / detachment to the mouth part easy, but there is no seam between the oral cavity forming part and the tongue-like hollow protrusion part, Pseudo saliva, pseudo blood, etc. do not leak to the outside and do not enter the inside (mechanism part) of the robot for medical simulation, and are excellent in water tightness and reliability of protection of the mechanism part.
(7) Since the oral cavity forming part has an upper jaw side mounting part to be mounted on the upper jaw part of the mouth part and a lower jaw side mounting part to be mounted on the lower jaw part of the mouth part, the oral cavity forming part can be easily moved up and down. It can be securely fixed to the upper and lower jaws, has excellent detachability, and can expand and contract both sides of the oral cavity to match the vertical movement of the upper and lower jaws. It does not hinder the opening and closing operation of the, and is reliable and stable in operation.
(8) An upper jaw side fixing portion disposed on the outer surface of the oral cavity forming portion, and an upper jaw side clamping portion disposed on the inner surface of the oral cavity forming portion and sandwiching the oral cavity forming portion together with the upper jaw side fixing portion. A mandibular side fixing part disposed on the outer surface of the oral cavity forming part, and a lower jaw side sandwiching the oral cavity forming part together with the lower jaw side fixing part disposed on the inner surface of the oral cavity forming part By providing the holding portion, the upper jaw side and the lower jaw side of the oral cavity forming portion can be reinforced, and the shapes of the upper jaw side mounting portion and the lower jaw side mounting portion can be stabilized, and the handleability is excellent.
(9) Since the maxillary side mounting part and the mandibular side mounting part have the maxillary side fixing part and the mandibular side fixing part, respectively, the attachment and detachment to the maxillary part and the mandibular part of the medical simulation robot can be performed easily and reliably. Excellent workability and maintenance during assembly and disassembly.
(10) Since the maxillary side mounting part and the mandibular side mounting part respectively have an maxillary side clamping part and a mandibular side clamping part, it is possible to easily attach and detach various dental models using these. Excellent exchanging workability.

As described above, the medical simulation robot including the robot oral cavity forming body according to the first embodiment has the following operations.
(1) The oral cavity forming body for robots can reproduce the oral cavity in a form close to the actual human body, and trainees can maintain a sense of tension and practice training. It can be worn and has excellent reliability and usability.
(2) The mouth forming body for the robot can protect the mouth surface of the robot main body, the mechanism part is not exposed to the oral cavity, and the mechanism part can be prevented from being damaged or malfunctioning. Excellent operational stability and reliability.
(3) Only the damaged oral cavity forming body for a robot can be replaced, and resource saving is excellent.

(Embodiment 2)
An oral cavity forming body for a robot according to Embodiment 2 of the present invention will be described below with reference to the drawings. In addition, the same code | symbol is attached | subjected to the thing similar to Embodiment 1, and description is abbreviate | omitted.
FIG. 8A is a schematic front view of the oral cavity forming body for a robot according to the second embodiment, and FIG. 8B is a schematic cross-sectional view taken along line GG in FIG.
In FIG. 8, the oral cavity forming body 1a for the robot in the second embodiment is different from the first embodiment in that the tongue-like hollow protrusion 3 is formed so as to extend from the bottom 2b of the oral cavity forming section 2 toward the opening 2a. And a discharge part 2c having a discharge hole 2d on the back side of the bottom 2b of the oral cavity forming part 2 is formed.
A drainage pipe can be connected to the discharge part 2c, and even if simulated saliva or simulated blood is used during training or testing, it can be reliably discharged.
In addition to connecting to the drain pipe, the discharge part 2c can also be connected to a pseudo esophagus part or a pseudo trachea of a medical simulation robot, and can be used for various exercises other than dental treatment.
Note that the shape, number, arrangement, and the like of the discharge portion are not limited to the present embodiment, and can be appropriately selected according to the application.

As described above, according to the oral cavity forming body for robot in the second embodiment, in addition to the same operations as those in the first embodiment, the following operations are provided.
(1) By providing a discharge part formed in the oral cavity forming part, pseudo saliva, pseudo blood, etc. accumulated in the oral cavity forming part during practical training can be easily and reliably discharged outside the oral cavity forming part. Excellent in usability.
(2) When the discharge part of the oral cavity forming body for a robot and the drain pipe are connected, pseudo saliva or pseudo blood accumulated in the oral cavity forming part can be easily and reliably discharged outside the oral cavity forming part, Excellent usability.
(2) When the discharge part of the oral cavity forming body for the robot is connected to the pseudo esophagus part or the pseudo trachea of the robot, it can be used not only for dental treatment but also for practical training such as treatment and surgery for the esophagus part and trachea. It is suitable for practical training such as intubation and endoscopy, and has excellent functionality and versatility.

  The present invention can be easily attached to and detached from the mouth of a robot for medical simulation, can reliably cover the upper and lower jaw surfaces, and can bring the appearance closer to the actual human body. It is possible to maintain and improve the skill, it is excellent in practicality, and it can be easily and reliably collected by preventing entry into mechanism parts such as simulated saliva and simulated blood, and it is easy to handle and use. It is excellent and can be replaced in a short time by a practitioner in the event of breakage, providing an oral forming body for robots with excellent assembly and disassembly workability and maintainability, and contributing to the spread of medical simulation robots it can.

DESCRIPTION OF SYMBOLS 1 Oral body formation body 2 for robots Oral cavity formation part 2a Opening part 3 Tongue-shaped hollow projection part 3a Hollow part 4 Pseudo uvula 5 Upper surface fixing hole 5a, 6a Thick part 6 Lower surface fixing hole 10 Upper jaw side mounting part 11 Upper jaw side fixing part 12 Upper jaw side clamping portions 12a, 22a Fitting holes 13, 24 Fitting convex portions 13a, 24a Recesses 13b, 24b Screw insertion holes 14, 23 Fitting concave portions 14a, 23a Female screw portions 15, 25, 34 Fixed screw 20 Lower jaw side mounting Part 21 Mandibular side fixing part 22 Mandibular side clamping part 30 Mouth part 31 Upper jaw part 32 Lower jaw part 32a Rotating shaft 33 Pseudo-tongue mechanism part 35, 36 Dental model 35a, 36a Positioning protrusion

Claims (4)

An oral cavity forming body for a robot used for a robot for medical simulation having a mouth part imitating a living body,
An oral cavity forming part that is formed in a bag shape having flexibility and stretchability and is detachably attached to the mouth part; and a pseudo-tongue mechanism part that is formed integrally with the oral cavity forming part and disposed in the mouth part. An oral cavity forming body for a robot, comprising: a tongue-shaped hollow protrusion portion to be covered.   2. The oral cavity forming portion includes an upper jaw side mounting portion to be mounted on the upper jaw portion of the mouth portion, and a lower jaw side mounting portion to be mounted on the lower jaw portion of the mouth portion. The oral cavity forming body for robot described.   The upper jaw side mounting portion is disposed on the outer surface of the oral cavity forming portion, and the upper jaw side is disposed on the inner surface of the oral cavity forming portion and sandwiches the oral cavity forming portion together with the upper jaw side fixing portion. A lower jaw side mounting portion disposed on the outer surface of the oral cavity forming portion, and the oral cavity together with the lower jaw side fixing portion disposed on the inner surface of the oral cavity forming portion. The oral cavity forming body for a robot according to claim 2, further comprising a lower jaw side holding portion that holds the forming portion.   The robot oral cavity forming body according to any one of claims 1 to 3, further comprising a discharge part formed in the oral cavity forming part.

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