JPH05303327A - Medical cutting simulation device - Google Patents

Abstract

PURPOSE:To provide the simulation device which is adapted to acquirement of the technique of a cutting medical treatment using a hand piece. CONSTITUTION:The relative position to an object B to be cut, the direction, etc., of a hand piece A are detected by a position detecting means C and are successively stored, and momentary values of the position and the direction and the locus of the hand piece A are displayed on a display means or the motion of the hand piece A is limited by a limiting means G or the hand piece A is driven by a driving means J to reproduce the motion preliminarily stored in a storage means D in accordance with stored data. Thus, various uses such as comparison and examination between the motion of the hand piece due to a trainer and that due to a trainee are possible, and a great effect is obtained in the training of cutting technique.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a medical cutting simulation device for acquiring cutting treatment in dentistry, otolaryngology and the like.

[0002]

2. Description of the Related Art The purpose of medical education is to acquire medical knowledge and medical technology. Especially for medical technology, a course using texts explaining treatments and surgical procedures and texts with planar images such as diagrams and photographs, Alternatively, training using a human body model is incorporated into the curriculum. However, it is impossible to accurately describe the skills of clinical experts in sentences, and it is difficult to pass on the skills accurately even when using diagrams and photographs together, and it is difficult for the recipient to understand individually. There is a difference. Also, medical treatment is an atypical and dynamic technique, and should always be regarded as having a property of changing according to various information fed back from the patient. The cutting of teeth and bones in dentistry and otolaryngology is not an exception, and there is a limit to practical training using a human body model, and it cannot be said to be sufficient as a means for transmitting the skills of clinical experts.

[0003]

In view of this point, the present invention provides a simulation device suitable for mastering the cutting treatment technique using a handpiece so that the technique of a clinical expert can be easily handed down. The task was to do.

[0004]

In order to achieve the above object, in a first invention of a medical cutting simulation device according to the present application, a handpiece including a cutting tool, and a cut piece of the handpiece. Position detection means for detecting the relative position and orientation of the object, storage means for sequentially storing the detected position and orientation of the handpiece, and instantaneous values of the position and orientation of the handpiece stored in the storage means and / or Or display means for displaying the trajectory.
Further, in the above-mentioned device, a hand that sequentially calculates the changing speed of the relative position and orientation of the handpiece with respect to the object to be cut and stores the detected position or orientation or the changing speed of the handpiece in advance in the storage means. There is provided a notifying means for comparing the position and direction of the piece or the changing speed thereof and notifying or displaying when the difference between the two exceeds a preset limit value.

In the second invention, a handpiece provided with a cutting tool, an articulated arm for holding the handpiece so that its position and orientation can be freely changed, and a relative position of the handpiece with respect to the object to be cut. Position detecting means for detecting a specific position and orientation, a storage means for sequentially storing the detected position and orientation of the handpiece, and a change speed of the relative position and orientation of the handpiece with respect to the workpiece are sequentially calculated. At the same time, the position and orientation of the handpiece that is being detected or calculated, or the rate of change thereof, is compared with the position and orientation of the handpiece, which is stored in advance in the storage means, or the rate of change thereof, and the difference between the two is set to a preset limit. Restraint means for restraining the movement of the multi-joint arm to limit the change in the position and orientation of the handpiece when the value is exceeded, There. The restraint means compares the position and orientation of the handpiece, which is being detected or calculated, or the changing speed thereof with the position and orientation of the handpiece, which is stored in advance in the storage means, or the changing speed thereof, and determines the difference between the two. Can be configured to change the binding force.

According to the third aspect of the invention, a handpiece provided with a cutting tool, an articulated arm that holds the handpiece so that its position and orientation can be freely changed, and the handpiece relative to the object to be cut. Position detecting means for detecting a specific position and orientation, a storage means for sequentially storing the detected position and orientation of the handpiece, and a position and orientation of the handpiece stored in advance in the storing means or a changing speed thereof. Drive means for driving the multi-joint arm.

In each of the above inventions, the position detecting means is a non-contact position detecting device which is composed of a magnetic or acoustic wave source attached to the handpiece and a measuring section for measuring the position of the source. Can be adopted. When the handpiece is held by the multi-joint arm, a rotation angle sensor provided at each joint of the multi-joint arm and a calculation unit that calculates the position and orientation of the handpiece from the output values of these rotation angle sensors. A position detecting device can be configured. Further, as the above-mentioned articulated arm, a handpiece holder is provided at the tip of the articulated arm so that the position and direction of the handpiece holder can be freely changed, and the handpiece holder holds the handpiece. It is possible to employ a device having a balance means for substantially canceling the weight.

When this device is for dentistry, a dental model such as a tooth model, a jaw model, or an occlusal model is used as the object to be cut. This dental model may be a physical model, but its shape data may be stored in advance in the storage means and displayed on the display means as a two-dimensional or three-dimensional image. In the case of a model based on this image, a head mounted display can be used as the display means. Further, in the case of the model based on these images, when the handpiece reaches the predetermined cutting position, the cut part is erased from the image of the dental model displayed on the display means in correspondence with the movement of the handpiece. Can be configured to.

Further, in the fourth invention, a handpiece provided with a cutting tool or a contact having the same shape as that of the cutting tool, and a multi-joint arm for holding the handpiece so that its position and orientation can be freely changed. Position detecting means for detecting an absolute position and orientation of the handpiece with respect to a reference point, external force detecting means for detecting an external force applied to the handpiece, and sequentially storing the detected position and orientation of the handpiece and external force. Storage means for storing shape data of the object to be cut, display means for displaying the shape of the object to be cut stored in the storage means as a two-dimensional or three-dimensional image, position and orientation of the handpiece, and changes in external force The speed is calculated sequentially, and the position and orientation of the handpiece that is being detected or calculated and the external force or the changing speed of these are calculated in advance. The position and orientation of the handpiece and the external force or their changing speeds stored in the memory are compared, and when the difference between the two exceeds a preset limit value, the movement of the articulated arm is restrained and the handpiece Restraining means for limiting changes in the position and orientation of the.

The restraint means compares the position and orientation of the handpiece, which is being detected or calculated, or the changing speed thereof, with the position and orientation of the handpiece, which is stored in advance in the storage means, or the changing speed thereof, and both It can be configured to change the binding force according to the difference. Further, in the above-mentioned device, it is possible to provide a driving means for driving the articulated arm so as to reproduce the position and direction of the handpiece stored in the storage means in advance or the changing speed thereof.

Further, in the above-mentioned device, as the position detecting means, a non-contact position detecting device composed of a magnetic or acoustic wave source attached to the handpiece and a measuring section for measuring the position of the source is provided. The position detection device can be adopted, and the position detection device can be configured by a rotation angle sensor provided at each joint of the multi-joint arm and a calculation unit that calculates the position and orientation of the handpiece from the output values of these rotation angle sensors. it can. Further, as the above-mentioned articulated arm, a handpiece holder is provided at the tip of the articulated arm so that the position and direction of the handpiece holder can be freely changed, and the handpiece holder holds the handpiece. It is possible to employ a device having a balance means for substantially canceling the weight.

When the device is for dentistry, a dental model such as a tooth model, a jaw model, or an occlusal model is used as the object to be cut. This dental model is a two-dimensional or three-dimensional model in addition to the physical model.
It may be displayed on the display means as a three-dimensional image. In the case of a model based on this image, a head mounted display can be used as the display means. Further, in the case of the model based on these images, when the handpiece reaches the predetermined cutting position, the cut part is erased from the image of the dental model displayed on the display means in correspondence with the movement of the handpiece. Can be configured to.

Further, in the fifth invention, a handpiece provided with a contactor, and position detection for detecting the relative position of the contactor tip with respect to the workpiece when the tip of the contactor contacts the workpiece. Means, storage means for sequentially storing the detected contact tip position, and display means for displaying an instantaneous value and / or locus of the contact tip position stored in the storage means,
It has and.

FIG. 1 is a diagram schematically showing the basic construction of the apparatus of the present invention. A is a handpiece, B is an object to be cut, C is position detection means, D is storage means, E is display means,
F is an informing means, G is a restraining means, H is an articulated arm, J is a driving means, K is a comparing means for comparing data in order to operate the informing means F and the restraining means G, L is an external force detecting means, M is a CP that controls the operation of each of the above means and the entire device
U. A ₁ is a cutting tool provided at the tip of the handpiece A or a contact having the same shape as the cutting tool, H ₁ is a joint of the handpiece H, and H ₂ is a handpiece holder provided at the tip of the multi-joint arm H. When the articulated arm H is used, the handpiece A is held by this holder H ₂ . It should be noted that FIG. 1 shows all the main constituent elements in each invention, and the constituent elements described above are combined according to the content of the invention, so that some constituent elements are unnecessary according to the invention.

[0015]

Operation: The relative position and orientation of the handpiece with respect to the object to be cut are detected and sequentially stored, and the instantaneous value and / or locus of the position and orientation of the handpiece are displayed by the stored data to perform the cutting work. It is possible to reproduce and display the movement of the handpiece at the time, and to compare and examine the operation of the handpiece of the instructor and the student in the ideal case and the non-ideal case. Also, comparing the movement of the handpiece with that stored in advance in the storage means, the notification means notifies when the difference between the two exceeds a limit value, and the restraint means prevents the difference between the two from increasing. To limit
The drive means can reproduce the movement of the handpiece stored in the storage means in advance.

With the above structure, it becomes easy for the trainee to understand the movement of the handpiece by the instructor and to acquire the required technique. In this case, by using the balance arm as the articulated arm that holds the handpiece, it is possible to operate the handpiece in a natural state while feeling only the weight of the handpiece. In particular, teeth are often cut in dental treatment, but the use of a dental model as the object to be cut is effective in acquiring the tooth cutting technique.

In the case where the object to be cut is reproduced and displayed as a model on the image on the display means, a more sophisticated simulation device can be obtained by combining it with computer graphics. Particularly, by using a man-machine interface which has been rapidly developing in recent years, for example, a head mounted display for artificial reality, effective simulation can be performed. The above head mounted display is HMD (Head Mounted Display)
It is abbreviated as “3D virtual space” and it is possible to acquire medical technology through a three-dimensional imaginary space in which a three-dimensional image of the subject is projected and the experience is realistic as if treating a real affected area. Become. In the case of dentistry, it is possible to acquire a cutting technique in a realistic manner by deleting the part to be cut from the image of the dental model displayed on the display means in correspondence with the movement of the handpiece.

Further, the relative position of the tip of the contact with respect to the object to be cut is detected by using a handpiece equipped with the contact,
With this, which is stored and displayed, the shape of the object to be cut can be measured. Therefore, this device is first used as a three-dimensional shape measuring device, for example, to take in shape data of a tooth model of an arbitrary shape, and after that, based on this data, an image of the tooth model is displayed and reproduced to start the cutting operation. Such an operation becomes possible.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The illustrated embodiments will be described below. First, an embodiment in which a dental model is used as the object to be cut in the first to third inventions on the assumption that the object to be cut is actually cut will be described. FIG. 2 is a block diagram of the apparatus of the embodiment, 1 is a handpiece, 1a is a cutting tool, and 2 is a cutting tool.
Is a position sensor, 3 is an external memory, 4 is a display unit, 5 is a notification unit, 6 is a restraint / driving mechanism, 7 is a pressure sensor, 8 is a foot switch, 9 is a keyboard, 10 is a handpiece operating circuit, and 11 is a display. A video signal generator for activating the section 4, 12 is an announcing section operating circuit for operating the announcing section 5, 13 is an arm operating circuit for operating the restraint / drive mechanism 6, 14 is a computer, and 15 is many. Articulated arm,
16 is a dental model. Similar to FIG. 1, this FIG. 2 also comprehensively shows the configuration of the apparatus of the embodiment, and the specifications and combinations of the respective components are appropriately selected according to the invention.

The computer 14 includes an internal memory and an input / output port in addition to the CPU, and operates according to a predetermined control program in accordance with a command signal from the foot switch 8 or the keyboard 9 or data in each memory. It controls the whole operation. Position sensor 2
Is provided with a rotation angle sensor such as a rotary encoder incorporated in each joint of the multi-joint arm 15, and the position and orientation of the handpiece 1, that is, the cutting tool 1a is based on the detection signal of the position sensor 2. It is calculated by computing in the computer 14.

As the position sensor 2, a non-contact type sensor may be used instead of the rotation angle sensor as described above. This is to attach a generator of magnetic or acoustic waves to the handpiece 1 and measure the magnetic or acoustic waves to detect the position of the generator. For example, Japanese Patent Publication No. 3-6145.
A magnetic type as disclosed in Japanese Patent Publication No. 1 can be used. In this case, since it is not necessary to use the multi-joint arm for the purpose of position detection, if the arm is not driven, a flexible arm can be used or the handpiece can be held directly by hand.

The display unit 4 displays the detected position and orientation of the handpiece 1, the shape of the dental model 16 and other data by numbers or as an image. Normally, the CRT display 4a as illustrated in FIG. 2 is used for this display portion, but as described above, the head mounted display 4b can also be used. A printer that outputs data or an image as a hard copy may be provided in the display unit 4 if necessary. Notification unit 5
For example, a buzzer or a speaker is provided to notify various kinds of information by a signal sound or a voice, but other functions such as notification by light or vibration may be provided.

Further, the restraint / driving mechanism 6 includes the handpiece 1
If the difference between the two and the one already stored in the memory exceeds the preset limit value,
The joint is braked to limit the movement of the multi-joint arm 15, or the joint is driven to reproduce the movement of the handpiece stored in the memory in advance. The pressure sensor 7 detects an external force acting between the handpiece 1 and the dental model 16 to detect a pressing force during cutting. Examples of specific configurations of the restraint / driving mechanism 6 and the pressure sensor 7 will be described later.

Next, an example of the articulated arm 15 will be described with reference to FIG. In the figure, 21 is a base and 22 is a base 21.
Fixed to the column, 23 to 28 are bearings, 29 and 3
0 is an arm, 31 is a handpiece holder, 32 and 3
3 is a counter balance.

The bearing portion 23 fixed to the column 22 supports the bearing portion 24 so as to be rotatable along a horizontal surface, and the bearing portion 24 is arranged so as to be rotatable along a vertical surface. The arm 29 of the book is attached, and the tip thereof is the bearing portion 2
5 is rotatably attached to form a parallel link. Similarly, two arms 30 are attached to the bearing portion 25 so as to be rotatable along a vertical surface, and the tips thereof are rotatably attached to the bearing portion 26 to form a parallel link. A bearing portion 27 is attached to the bearing portion 26 so as to be rotatable along a vertical surface.
A bearing portion 28 is attached to the bearing portion 28 so as to be rotatable along a horizontal surface. Further, the bearing portion 28 is attached to the handpiece so as to be rotatable along a vertical surface orthogonal to the rotation direction of the bearing portion 27. A holder 31 is attached.

That is, the multi-joint arm 15 is an arm with six degrees of freedom having six joints 15a.
Handpiece 1 held by handpiece holder 31
Can move freely within a certain range. Each bearing 2
3 to 28 include rotary encoders 23a to 2a, respectively.
8a is provided, and the position and direction of the handpiece 1 on the coordinates set with the arbitrary point as the origin are detected by inputting and calculating the respective rotation angles θ _{1 to} θ ₆ into the computer 14. It

On the other hand, the counter balance 32 is the arm 2
One arm 29 is extended and attached to the opposite side so as to balance with the total weight of the components from 9 onwards, and the counter balance 33 has an arm to balance with the total weight of the components from the arm 30 onwards. One of 30 is extended and attached to the opposite side, and the attaching portion has a screw structure for balance adjustment. Therefore, the weight up to the handpiece holder 31 is substantially cancelled, and it becomes possible to operate the handpiece 1 in a natural state while feeling only the weight of the handpiece 1, and if necessary, the weight of the handpiece 1. It can be balanced with the inclusion of. The articulated arm may be a balance arm using a spring.

Next, an embodiment of the restraint / drive mechanism 6 will be described with reference to FIGS. FIG. 4 shows an example of the electromagnetic clutch system. In the figure, 41 is a bearing portion, 42 is a shaft, and 43.
Is an arm fixed to the shaft 42, 44 is a rotary encoder, 45 is a friction plate made of a magnetic material fixed to the other end of the shaft 42, 46 is an electromagnet arranged facing the friction plate 45, and 46a is an electromagnet. The coil 47 is a spring that biases the electromagnet 46 away from the friction plate 45. That is, when the coil 46a is energized, the electromagnet 46 is attracted to the friction plate 45, the shaft 42 is locked, and the joint 15a is fixed at the angle at that time. FIG. 5 shows an example of the solenoid system. (A) is a solenoid 48 for pushing and pulling the brake shoe 49 to brake the shaft 42, and (b) is a solenoid 48 for pulling the belt 50. FIG. 3C shows that the solenoid 48 presses and pulls the claw 51 to engage the gear 52 fixed to the shaft 42 to apply the braking.

The above is a type in which the braking force is simply turned on and off, but FIGS. 6 to 8 are examples in which the braking force can be changed. FIG. 6 shows an example of a motor system in which a brake shoe 55 is held by a holder 56 so as not to rotate, and a screw portion of an output shaft 58 of a motor 57 is screwed into the brake shoe 55. As a result, the motor 57 operates and the output shaft 58
When is rotated, the brake shoe 55 moves in the axial direction, and the braking force due to friction with the shaft 42 changes.
FIG. 7 shows an example of the cylinder system. Reference numeral 61 is a cylinder operated by fluid pressure such as air or oil, 62 is an operating plate fixed to the output shaft of a piston 61a of the cylinder, and this operating plate 62 is opposed to a friction plate 63 fixed to the end surface of the shaft 42. The braking force is changed by arranging and controlling the fluid such as hydraulic oil to push and pull the operating plate 62.

FIG. 8 shows an example of a rubber actuator system. Reference numeral 65 is a spherical rubber actuator, 66 is a spring for urging the operating plate 62 toward the friction plate 63,
Similar to FIG. 7, the operating plate 62 is arranged opposite to the friction plate 63 fixed to the shaft 42, and the operating plate 62 is pushed and pulled by the rubber actuator 65. That is, when the fluid is supplied to the rubber actuator 65, the actuator 65 becomes round and the actuating plate 62 is pulled back in the direction away from the friction plate 63 as shown by the chain line, but when the fluid comes out from the actuator 65, the spring 66 as shown by the solid line. The actuating plate 62 is urged toward the friction plate 63, and the braking force is changed by adjusting the supply pressure of the fluid to the actuator 65.

FIG. 9 shows an example in which the braking force is changed and the driving force is also generated. That is, the mechanism of the portion that produces the braking force is the same as that in FIG. 6, but here, a motor 69 having a built-in rotary encoder 69a is provided instead of the rotary encoder 44 in FIG.
Therefore, when the motor 69 operates, the shaft 42 rotates and the arm 43 fixed thereto rotates, and when it is detected from the detection signal of the rotary encoder 69a that the shaft 43 has rotated by a predetermined angle, it stops at that angle. Also, the motor 5
7 is operated and the output shaft 58 rotates, the brake shoe 5
5 moves, and the braking force due to friction with the shaft 42 changes.

By appropriately selecting such a restraining / driving mechanism 6 having a desired function in accordance with the specifications of the apparatus, the movement of the joint 15a is restricted and the shape change of the multi-joint arm 15 is stopped. , The movement of the handpiece already stored in the memory can be reproduced. The restraint / driving mechanism 6 described above is an example of a configuration in which the joints 15a are separately provided, and for example, small motors for the joints 15a are provided in the bearing portion 23 or the bearing portion 24 close thereto in a concentrated manner. Other methods, such as connecting the bearings with a thin wire belt, may be used.

Next, the pressure sensor 7 will be described. Figure 1
Reference numeral 0 indicates the tip portion of the handpiece 1. 1
Reference numeral b denotes a rotor to which the cutting tool 1a is attached, 1c denotes a bearing, and a plurality of strain gauges 7a are provided between the rotor 1b and the body of the handpiece 1. Therefore, when the cutting tool 1a comes into contact with the dental model and is in a cutting state, stress corresponding to the pressing force at that time is applied to the strain gauge 7a, and the pressing force is detected by inputting these detection signals to the computer 14 for calculation. To be done. Instead of using such a pressure sensor, it is possible to detect the change by picking up a change in the rotation sound when the cutting tool 1a comes into contact with the dental model with a microphone.

The operation of the entire apparatus including the operation of each section as described above is controlled by the computer 14 as described above. The program for this control is created so as to realize a predetermined function according to the specifications of the device. Next, the basic procedure of control will be described with reference to FIGS. 11 and 12 while omitting these detailed points. First,
In step S1, the shape of the known dental model 16 and the shape of the tip including the cutting tool 1a of the handpiece 1 to be used are input, and it is determined whether or not the teacher data is taken in. If so, in step S2, Otherwise, step S11
Proceed to. In step S2, it is determined whether or not the handpiece 1 is at the start position, and if not, it is determined that the handpiece is lifted and the operation is started, and whether or not the handpiece 1 is rotating. Is determined. If not, the fact is notified, and the process stands by until it rotates, and if it is rotating, the process proceeds to step S3.

In step S3, it is determined again whether or not the handpiece 1 is at the start position. If not, each joint 15
The angle a is input and the position and direction of the tip of the handpiece 1 are calculated and stored. This procedure is the next step S
It is repeated until the tip of the handpiece 1, that is, the cutting tool 1a is in contact with the dental model 16 in 4, and the results are sequentially stored. If it is determined in step S4 that the handpiece 1 is in contact, the position and direction of the tip of the handpiece 1 are calculated and stored from the angles of the joints at that time. This procedure is performed in the next step S5. The process is repeated until it is determined that the tip of No. 1 is located inside the surface of the dental model 16, and the results are sequentially stored.

When it is determined in step S5 that the tip of the handpiece 1 is located inside the surface of the dental model 16, the position and direction of the tip of the handpiece 1 are calculated and stored as described above. , The procedure is repeated until the tip of the handpiece 1 goes outside the surface of the dental model 16, and the results are sequentially stored. If the tip of the handpiece 1 is outside the surface of the dental model 16, it is considered that the cutting work has been completed, and thus the step S4 is performed.
If the tip of the handpiece 1 is not in contact with the dental model 16 here, the process returns to step S3. If the handpiece 1 is at the start position, it is determined that the work is completed,
Proceeding to step S6, the handpiece 1 is stopped.

On the other hand, when the process proceeds from step S1 to step S11, it is determined whether or not the handpiece 1 is at the start position, and if not, it is determined whether or not the handpiece 1 is rotating. If not, the user is informed of that fact and stands by until it is rotated, and if it is rotating, step S12.
Proceed to. Here, the position and direction of the tip of the handpiece 1 are calculated and stored in the same procedure as in step S3.
This procedure is repeated until it is determined in the next step S13 that the tip of the handpiece 1 is located inside the surface of the dental model 16, and the results are sequentially stored. In step S13, the position and direction of the tip of the handpiece 1 are calculated and stored in the same procedure as in step S5, and the result is displayed. This procedure is performed in the next step S1.
While it is determined in 4 that the cutting amount is within the preset depth, the process is repeated, and the result is sequentially stored and displayed.

If it is determined in step S14 that the cut amount has reached the set value, the fact is notified and the constraint / restriction is performed.
The drive mechanism 6 is actuated to restrain the movement of the joint 15a and prevent further cutting. In this procedure, cutting is performed on the entire planned cutting area, and the next step S15
The process is repeated until it is determined that the set cutting amount has been cut. However, when it is determined that the cutting has been finished, the fact is displayed and the process returns to step S12, and the handpiece 1
If is at the start position, it is determined that the work is completed, the process proceeds to step S16, and the handpiece 1 is stopped. The above is centered on the procedure of detecting the movement of the handpiece by the instructor and that of the student and memorizing it respectively.Furthermore, using this detection result, a comparative examination of the two is carried out, or restraint is performed. / Various applications are possible, such as operating the drive mechanism 6 not only in step S14 but also in previous steps, and displaying the position not only in step S13 but also from start to finish.

Next, the object to be cut such as a physical model is not actually cut, but the object to be cut is displayed as a model on the image on the display unit 4, and the handpiece 1 is also displayed on the display unit 4 according to the movement. An embodiment of the fourth invention based on the premise of displaying on the screen will be described. The block diagram of the apparatus in this case can also be diverted from FIG. 2, but the contents are slightly different. For example,
The cutting tool 1a can be replaced with a contactor having the same shape, and the display unit 4 is essential. In addition to outputting a rotation sound from the notification unit 5, the rotation sound is reduced and a cutting sound is generated when, for example, the contact 1a comes into contact with or cuts an object to be cut. You may give a sense of presence by changing the.

In this embodiment, the tip of the handpiece 1,
That is, the cutting tool or the contact 1a does not actually contact the object to be cut, for example, the tooth model, and no external force acts on the cutting tool or the contact 1a. For this reason, the pressure sensor 7 of FIG. 10 is also useless, and therefore the configuration as shown in FIG. 13 is adopted. That is, as shown in the figure, the handpiece 1 is held on the handpiece holder 31 via the universal joint 31a, and the strain gauges 7b and 7c for detecting the stress in the axial direction and the stress in the direction perpendicular to the axis are detected. Strain gauge 7d
7e and universal joint 31a and handpiece holder 3
It is provided between 1 and 1. Therefore, when the cutting tool or the contact 1a is in contact with the object to be cut or is in the cutting state on the data, the movement of the multi-joint arm is restrained, and the movement between the handpiece holder 31 and the handpiece 1 is restricted. A stress is generated and this is detected as an external force.

The basic control procedure of this embodiment will be described below with reference to FIG. Note that a dental model is used as the object to be cut. First, step S2
1, the mode setting is performed, and the shape data of the known dental model 16 and the shape data of the tip of the handpiece 1 including the cutting tool or the contactor 1a are input, and the shape of the dental model 16 is displayed on the display unit 4. Is displayed. Next, in step S22, an ON / OFF signal of the foot switch is input, and further, the angle of each joint 15a is input, and the position and direction of the tip of the handpiece 1 are calculated and stored.

In step S23, the cutting tool or contactor 1a
Is in a position where it contacts the dental model 16, and if it is in the contact position, the process proceeds to step S25. If it is not in that position, it is further determined whether the foot switch 8 is on or off, and if it is on, the process proceeds to step S24. , If not on, the procedure returns to step S22 and the procedure is repeated. In step S24, it is determined again whether or not the cutting tool or the contactor 1a is in a position to contact the dental model 16, and if it is in the contact position, the process proceeds to step S25, and if it is not in the position, the process returns to step S22 to perform the procedure. Repeated. In step S25, the restraint / drive mechanism 6 is activated to restrain the movement of the joint 15a, and the feel of contact with the dental model 16 is given to the hand holding the handpiece 1. In the next step S26, it is determined whether the foot switch 8 is on or off again, and if it is on, the process proceeds to step S27, and if it is not on, the process proceeds to step S27.
Returning to 23, the procedure is repeated.

In step S27, the detection signal of the pressure sensor 7 having the configuration shown in FIG. 13 is input, and the cutting speed is calculated based on this. Then, in step S28, an external force corresponding to the cutting speed is calculated, the movement of the joint 15a is braked by the force corresponding to the external force, and the handpiece 1 has a feeling of cutting while pressing the handpiece against the dental model 16. Given to the hand. Further, in the next step S29, the movement amount of the handpiece 1 per unit time is calculated according to the cutting speed obtained in step S27, and from the image of the dental model 16 according to the position of the handpiece and the change amount thereof. The calculation for erasing the corresponding cut portion is performed, and in step S30, the image of the handpiece 1 and the image of the dental model 16 after the cut portion are deleted are displayed. Then, returning to step S24, the above procedure is repeated.

As can be understood from the above-described embodiments, the position of the tip of the cutting tool or the contact 1a of the handpiece 1 is successively detected according to the apparatus of the present invention, so that the cutting tool or the contact 1a is By making uniform contact with the surface of the object to be cut, the shape of the object to be cut can be measured. Therefore, this device can be used as it is without changing the configuration.
It can also be used as a three-dimensional shape measuring device.For example, the operation of taking in the shape data of a tooth model of an arbitrary shape, displaying and reproducing the image of the tooth model based on this data, and moving to the cutting operation can be performed. It will be possible.

[0045]

As is apparent from the above description, the present invention detects and sequentially stores the relative position and orientation of the handpiece with respect to the object to be cut, and stores the position of the handpiece based on the stored data. It is possible to display the instantaneous value of the direction and the trajectory, limit the movement of the handpiece, and drive the handpiece to reproduce the movement stored in the storage means in advance. Therefore, a simulation device that can be used in various ways, such as comparing and examining the movement of the handpiece during cutting work between the instructor and the learner, or reproducing the movement of the handpiece by the instructor, can be obtained. A great effect can be obtained in the education of cutting technology. In addition, it becomes possible to measure the shape of a dental model or the like with this device.

Further, in the case of displaying the image of the object to be cut on the display means, it is possible to combine with computer graphics, and in particular, a great effect can be obtained by using the head mounted display as the display means. .. In this case, by reproducing the technique of a skilled person on the screen and imitating it, it is possible to perform atypical and dynamic operations such as securing the optimal medical position, securing the operative field, accessing the treatment site, and handling the treatment instrument. You can learn medical practice in a one-on-one condition and through a realistic experience. In addition, it is possible to perform a simulation prior to the actual treatment to confirm the location of lesions and blood vessels, and to examine in advance various problems that may occur during the treatment, making it easy to perform efficient and safe treatment. Become.

[Brief description of drawings]

FIG. 1 is a diagram showing a basic configuration of the present invention.

FIG. 2 is a block diagram of an apparatus according to an embodiment of the present invention.

FIG. 3 is a perspective view of an articulated arm in the apparatus of the embodiment.

FIG. 4 is a diagram showing an example of a restraint / drive mechanism in the apparatus of the embodiment.

FIG. 5 is a diagram showing another example of the restraint / driving mechanism.

FIG. 6 is a diagram showing another example of the restraint / drive mechanism.

FIG. 7 is a view showing another example of the restraint / drive mechanism.

FIG. 8 is a diagram showing another example of the restraint / drive mechanism.

FIG. 9 is a view showing another example of the restraint / drive mechanism.

FIG. 10 is a cross-sectional view showing a configuration of a pressure sensor in the apparatus of the embodiment.

FIG. 11 is a flowchart of a control procedure of the embodiment.

FIG. 12 is a flowchart of the control procedure of the embodiment.

FIG. 13 is a cross-sectional view showing the configuration of a pressure sensor in an apparatus of another embodiment.

FIG. 14 is a flowchart of a control procedure of the embodiment.

[Explanation of symbols]

 1 Handpiece 1a Cutting tool or contactor 2 Position sensor 4 Display means 4b Head mounted display 5 Notification section 6 Restraint / drive mechanism 7 Pressure sensor 14 Computer 15 Multi-joint arm 15a Joint 16 Dental model 31 Handpiece holder 32 Counterbalance 44 rotary encoder

Claims (22)

[Claims] 1. A medical cutting simulation device for practicing cutting treatment using a handpiece, the handpiece including a cutting tool, and the relative position and orientation of the handpiece with respect to an object to be cut. A position detecting means for detecting, a storage means for sequentially storing the detected position and orientation of the handpiece, a display means for displaying an instantaneous value and / or trajectory of the position and orientation of the handpiece stored in the storage means, A medical cutting simulation device comprising: 2. A handpiece in which the relative position and orientation change speed of the handpiece with respect to the object to be cut are sequentially calculated, and the position and orientation or change speed being detected or calculated are stored in advance in the storage means. The medical cutting simulation device according to claim 1, further comprising an informing unit that compares the position and the direction or the changing speed thereof and informs or displays when the difference between them exceeds a preset limit value. 3. A medical cutting simulation device for practicing cutting treatment using a handpiece, comprising: a handpiece provided with a cutting tool, and the position and orientation of the handpiece being freely changeable. A multi-joint arm held by, a position detection means for detecting the relative position and orientation of the handpiece with respect to the workpiece, and a storage means for sequentially storing the detected position and orientation of the handpiece,
The speed of change of the relative position and orientation of the handpiece with respect to the object to be cut is sequentially calculated, and the position and orientation of the handpiece being detected or calculated or the speed of change thereof and the position of the handpiece stored in advance in the storage means. And a direction or a changing speed thereof, and when the difference between the two exceeds a preset limit value, the movement of the articulated arm is restrained to restrain the change in the position and the orientation of the handpiece, and A medical cutting simulation device comprising: 4. The restraint means compares the position and orientation of the handpiece, which is being detected or calculated, or the changing speed thereof with the position and orientation of the handpiece, which is stored in advance in the storing means, or the changing speed thereof, and both The medical cutting simulation device according to claim 3, wherein the restraining force is changed according to the difference. 5. A medical cutting simulation device for practicing cutting treatment performed using a handpiece, comprising: a handpiece including a cutting tool, and a position and orientation of the handpiece that can be freely changed. A multi-joint arm held by, a position detection means for detecting the relative position and orientation of the handpiece with respect to the workpiece, and a storage means for sequentially storing the detected position and orientation of the handpiece,
A medical cutting simulation device comprising: a driving unit that drives the multi-joint arm so as to reproduce the position and direction of the handpiece or the changing speed thereof stored in advance in the storage unit. 6. The non-contact position detecting device according to claim 1, wherein the position detecting means is composed of a magnetic or acoustic wave source attached to the handpiece and a measuring unit for measuring the position of the source. 5. The medical cutting simulation device according to any one of 5. 7. The position detecting means comprises a rotation angle sensor provided at each joint of a multi-joint arm holding the handpiece, and an arithmetic unit for calculating the position and orientation of the handpiece from the output values of these rotation angle sensors. The medical cutting simulation device according to any one of claims 1 to 5, which is a configured position detection device. 8. A handpiece holder is provided at the tip of an articulated arm so that its position and orientation can be freely changed. The handpiece holder holds the handpiece, and the articulated arm has a handpiece holder. 6. The medical cutting simulation device according to claim 1, further comprising a balance means for substantially canceling the weights up to. 9. The medical cutting simulation device according to claim 1, wherein the object to be cut is a dental model such as a tooth model, a jaw model, or an occlusal model. 10. The dental model shape data is stored in advance in the storage means, and the dental model is two-dimensional or three-dimensional.
The medical cutting simulation device according to claim 9, wherein the medical cutting simulation device is configured to be displayed as a three-dimensional image on the display means. 11. The medical cutting simulation device according to claim 10, wherein the display means is a head-mounted display. 12. The cut part is erased from the image of the dental model displayed on the display means in correspondence with the movement of the handpiece when the handpiece reaches a predetermined cutting position. Item 10. A medical cutting simulation device according to item 10 or 11. 13. A medical cutting simulation device for practicing cutting treatment using a handpiece, comprising: a handpiece provided with a cutting tool or a contactor having the same shape as the cutting tool; An articulated arm that holds the position and orientation so that they can be changed freely, position detection means that detects the absolute position and orientation of the handpiece with respect to a reference point, and external force detection means that detects the external force applied to the handpiece, A storage unit that sequentially stores the detected position and orientation of the handpiece and external force and also stores the shape data of the workpiece, and the shape of the workpiece stored in the storage unit as a two-dimensional or three-dimensional image. The display means for displaying, the position and orientation of the handpiece, and the rate of change of the external force are sequentially calculated, and the hand being detected or being calculated. Position and direction of the handpiece and external force or the changing speed thereof, and the position and direction of the handpiece and the external force or these changing speeds stored in the storage means in advance are compared, and the difference between the two values is set to a preset limit value. Restraint means for restraining the movement of the multi-joint arm to limit the change in the position and orientation of the handpiece when exceeding,
A medical cutting simulation device comprising: 14. The restraint means compares the position and orientation of the handpiece, which is being detected or calculated, or the changing speed thereof with the position and orientation of the handpiece and the external force or the changing speed thereof, which are stored in advance in the storage means. The medical cutting simulation device according to claim 13, wherein the restraining force is changed according to the difference between the two. 15. The medical cutting simulation device according to claim 13, further comprising drive means for driving the articulated arm so as to reproduce the position and direction of the handpiece or the changing speed thereof stored in advance in the storage means. 16. The non-contact position detecting device according to claim 13, wherein the position detecting means is composed of a magnetic or acoustic wave source attached to the handpiece and a measuring section for measuring the position of the source. 15. The medical cutting simulation device according to any one of 15. 17. A position detecting means, wherein the position detecting means is composed of a rotation angle sensor provided at each joint of the multi-joint arm, and a calculation section for calculating the position and orientation of the handpiece from the output values of these rotation angle sensors. The medical cutting simulation device according to any one of claims 13 to 15, which is a device. 18. A handpiece holder is provided at the tip of an articulated arm so that its position and orientation can be freely changed. The handpiece holder holds the handpiece, and the articulated arm has a handpiece holder. 16. The medical cutting simulation device according to claim 13, further comprising a balance means for substantially canceling the weight up to. 19. The object to be cut displayed on the display means is a dental model such as a tooth model, a jaw model, or an occlusal model.
16. The medical cutting simulation device according to any one of 1 to 15. 20. The medical cutting simulation device according to claim 19, wherein the display means is a head-mounted display. 21. When the handpiece reaches a predetermined cutting position, the cut portion is erased from the image of the dental model displayed on the display means in correspondence with the movement of the handpiece. Item 21. The medical cutting simulation device according to item 19 or 20. 22. A medical cutting simulation device for practicing cutting treatment using a handpiece, comprising a handpiece having a contactor, and a contact piece when the tip of the contactor contacts an object to be cut. Position detection means for detecting the relative position of the contact tip to the cutting object, storage means for sequentially storing the detected position of the contact tip, and an instantaneous value of the position of the contact tip stored in the storage means and And / or a display unit that displays a trajectory, and a medical cutting simulation device.