CN109330718B - Automatic intraoral operation device for dental treatment - Google Patents
Automatic intraoral operation device for dental treatment Download PDFInfo
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- CN109330718B CN109330718B CN201811141659.3A CN201811141659A CN109330718B CN 109330718 B CN109330718 B CN 109330718B CN 201811141659 A CN201811141659 A CN 201811141659A CN 109330718 B CN109330718 B CN 109330718B
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- driving motor
- speed reducer
- angle speed
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- 238000000227 grinding Methods 0.000 claims abstract description 49
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 47
- 238000005096 rolling process Methods 0.000 claims abstract description 33
- 210000000214 mouth Anatomy 0.000 claims abstract description 24
- 210000003781 tooth socket Anatomy 0.000 claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims abstract description 20
- 210000004513 dentition Anatomy 0.000 claims description 10
- 230000036346 tooth eruption Effects 0.000 claims description 10
- 238000009434 installation Methods 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 22
- 238000002360 preparation method Methods 0.000 description 8
- 210000003128 head Anatomy 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 229920002379 silicone rubber Polymers 0.000 description 3
- 239000004945 silicone rubber Substances 0.000 description 3
- 230000003321 amplification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 210000003074 dental pulp Anatomy 0.000 description 1
- 210000004262 dental pulp cavity Anatomy 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C5/00—Filling or capping teeth
- A61C5/40—Implements for surgical treatment of the roots or nerves of the teeth; Nerve needles; Methods or instruments for medication of the roots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C11/00—Dental articulators, i.e. for simulating movement of the temporo-mandibular joints; Articulation forms or mouldings
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C5/00—Filling or capping teeth
- A61C5/007—Dental splints; teeth or jaw immobilisation devices; stabilizing retainers bonded to teeth after orthodontic treatments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C5/00—Filling or capping teeth
- A61C5/40—Implements for surgical treatment of the roots or nerves of the teeth; Nerve needles; Methods or instruments for medication of the roots
- A61C5/42—Files for root canals; Handgrips or guiding means therefor
Abstract
An automatic operation device in an oral cavity for dental treatment comprises a positioning unit, an operation unit and a control unit, wherein the positioning unit comprises a tooth socket, a rack and a tooth socket plate, the operation unit comprises a shell and a cover plate, an X-direction driving motor, a Y-direction driving motor, a Z-direction driving motor, an X-direction right-angle speed reducer, a Y-direction right-angle speed reducer, a Z-direction right-angle speed reducer, a plane gear transmission mechanism, an X-direction screw nut, a Z-direction screw nut, a sliding wheel, a spring, a grinding motor connecting piece and a grinding motor, rolling gears, rolling needles, grinding needles and clamping sliding blocks are arranged outside the shell, the operation unit is arranged on the tooth socket of the positioning unit, two rolling needles of the operation unit are embedded into grooves arranged on the outer side surface of a first U-shaped plate of the tooth socket during installation, the rolling gears of the operation unit are meshed with the rack of the positioning unit, and the control unit is used for controlling the operation of the X-direction driving motor, the Y-direction driving motor and the Z-direction driving motor.
Description
Technical Field
The invention belongs to the technical field of medical equipment, and particularly relates to an automatic operation device capable of accurately opening a marrow cavity and performing tooth preparation operation on target affected teeth in a patient's oral cavity.
Background
In dental treatment, dental preparation is a necessary step for repairing a target affected tooth, and medullary cavity opening is a necessary step for root canal treatment. However, in the current dental clinic, the tooth preparation and the medullary cavity opening still need a doctor to observe for a long time and perform manual operation, so that the oral cavity medical efficiency is seriously affected, and the doctor is extremely easy to generate fatigue after working for a long time, so that the diagnosis and treatment quality is reduced. Furthermore, there are great differences in the quality of dental treatment due to the difference in the experience, proficiency, fatigue level, etc. of operators, which results in uneven quality of dental treatment. Therefore, there is a need for a stable, accurate automated device for dental treatment that replaces manual operations to achieve standardized accurate treatment.
The presently disclosed dental and dental treatment automation device or surgical robot system has a working unit body disposed outside the oral cavity, and a dental handpiece is inserted into the oral cavity of a patient through an industrial manipulator or a similar manipulator structure to perform an operation. Because the main body of the operation unit outside the mouth and the oral cavity of the human body are required to be in a unified coordinate system, the fixing of the head of the patient in the treatment process is very strict, and the slight movement of the head or the oral cavity can have serious negative influence on the treatment precision, and even has potential safety hazard. However, the human body cannot be completely stationary. Therefore, in order to ensure the accuracy of tooth treatment, the device must be matched with a high-speed and high-precision oral cavity positioning sensing system to realize follow-up control so as to compensate the relative displacement of human and machine generated by sudden and intense movement caused by natural micro motion or pain of a human body; in addition, in order to prevent the motion of the industrial robot from being out of control due to electromagnetic interference or error of program codes, a high-speed precise force feedback and scram system is matched to ensure the life safety of the patient. Therefore, the cost of the software design and hardware manufacture of the equipment is extremely high, and the equipment is difficult to popularize and apply in clinic.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a miniaturized automatic intraoral operation device for dental treatment, solves the problems of heavy structure, low positioning precision, complex operation, high manufacturing cost and the like of the existing extraoral operation device for tooth pulp opening and tooth preparation, partially replaces manual operation of dentists, shortens the tooth treatment time, and effectively improves the clinical treatment efficiency and quality of dentists.
The invention relates to an intraoral automatic operation device for dental treatment, which consists of a positioning unit, an operation unit and a control unit; the positioning unit comprises a tooth socket, a rack and a tooth socket plate, wherein the tooth socket is formed by combining a first U-shaped plate, a second U-shaped plate and two connecting strips, the upper part of the outer side surface of the first U-shaped plate is provided with a groove combined with the operation unit, the second U-shaped plate is positioned at the inner side of the first U-shaped plate and is parallel to the first U-shaped plate, a space which is convenient for the dentition of a patient to enter is reserved between the second U-shaped plate and the first U-shaped plate, the upper edges of the end parts of two arms of the first U-shaped plate and the second U-shaped plate are respectively connected by the two connecting strips to form a sleeve body containing a U-shaped through hole, the rack is a U-shaped rack matched with the inner side surface of the second U-shaped plate and is fixed on the inner side surface of the second U-shaped plate, and the tooth socket plate covers the upper end of the U-shaped through hole and is combined with the first U-shaped plate and the second U-shaped plate when in use; the operation unit comprises a shell, a cover plate matched and combined with the shell, an X-direction driving motor, a Y-direction driving motor, a Z-direction driving motor, an X-direction right-angle speed reducer, a Y-direction right-angle speed reducer, a Z-direction right-angle speed reducer, a plane gear transmission mechanism, an X-direction screw nut, an X-direction screw rod, a Z-direction screw nut, a Z-direction screw rod, a sliding wheel, a spring, a grinding motor connecting piece and a grinding motor, a rolling gear, a rolling needle and a grinding needle which are positioned outside the shell, and a clamping sliding block used for installing the rolling needle and combined with the shell, wherein the rolling gear is matched with a rack in the positioning unit, and the outline dimension of the shell is limited by the possibility of being placed into the oral cavity of a patient; one end of an X-direction screw rod is arranged on the shell, the other end of the X-direction screw rod is connected with a power output end of an X-direction right-angle speed reducer arranged on the shell, a power input end of the X-direction right-angle speed reducer is connected with an X-direction driving motor arranged on the shell, and an X-direction screw nut is arranged on the X-direction screw rod and is contacted with a first limiting surface arranged on the shell; the Y-direction driving motor is arranged on the shell, the Y-direction driving motor is connected with the power input end of the Y-direction right-angle speed reducer, and the power output end of the Y-direction right-angle speed reducer is connected with the rolling gear; the upper end of the Z-direction screw rod is connected with the power output end of the Z-direction right-angle speed reducer, the lower end of the Z-direction screw rod is connected with the sliding wheel, the power input end of the Z-direction right-angle speed reducer is connected with the power output end of the plane gear transmission mechanism, the power input end of the plane gear transmission mechanism is connected with the Z-direction driving motor, the box body of the plane gear transmission mechanism is connected with the X-direction screw nut, the Z-direction screw nut is arranged on the Z-direction screw rod and contacts with the second limiting surface arranged on the shell, and the sliding wheel is positioned in the limiting sliding groove arranged on the bottom plate of the shell; the grinding motor is connected with the Z-direction nut through a grinding motor connecting piece, and the grinding needle is connected with a power output shaft of the grinding motor; the clamping slide block is combined with the shell through a spring, and two rolling pins are respectively arranged at two sides of the lower part of the clamping slide block; the operation unit is arranged on the tooth socket of the positioning unit, and when in installation, two rolling pins of the operation unit are embedded into grooves formed in the outer side surface of the first U-shaped plate of the tooth socket, and a rolling gear of the operation unit is meshed with a rack of the positioning unit; the control unit is used for controlling the operation of the X-direction driving motor, the Y-direction driving motor and the Z-direction driving motor in the operation unit.
Above-mentioned an automatic operation device in oral cavity for dental treatment, the first U-shaped board upper end of facing to the U-shaped through-hole is provided with first protruding edge, and the second U-shaped board upper end is provided with the second protruding edge towards the U-shaped through-hole to pack the silicone rubber impression material in the U-shaped through-hole of facing to the tooth shell when more being favorable to using, and enable positioning unit to fix more firmly and can not rock from top to bottom when on the tooth row.
The automatic intraoral operation device for dental treatment comprises a shell, a first shell and a second shell, wherein the shell is formed by combining the first shell and the second shell; the first shell comprises a base plate, a first wing protection plate, a second wing protection plate and a first bottom plate, wherein the first wing protection plate and the second wing protection plate are respectively positioned at two sides of the base plate and are fixedly connected with the base plate or are of an integrated structure, the first bottom plate is positioned at the lower end of the base plate, one side of the first bottom plate is fixedly connected with the base plate, one end of the first bottom plate is fixedly connected with the first wing protection plate, a space for installing a clamping sliding block is reserved between the other end of the first bottom plate and the second wing protection plate, a supporting seat for installing an X-direction screw rod is arranged at the upper part of the inner side of the second wing protection plate, a first limiting surface for preventing the rotation of the X-direction screw nut is arranged at the upper part of the inner side of the base plate, a first spring fixing frame is arranged at the position of the first bottom plate, close to the second wing protection plate, a bracket for installing a Y-direction driving motor is arranged between the first spring fixing frame and the first wing protection plate, a first through hole for allowing a power output end of the Y-direction right-angle speed reducer to pass is arranged between the bracket and the first wing protection plate, and a guide tube is arranged on the first spring fixing frame; the second shell comprises a second bottom plate and a coaming surrounding the second bottom plate, the lower end of the coaming is fixedly connected with the second bottom plate or is of an integrated structure, a second limiting surface for preventing the Z-direction nut from rotating is arranged on the inner side of the rear side surface of the coaming, a limiting chute for the directional sliding of the sliding wheel and a second through hole for the passing of the grinding motor are arranged on the second bottom plate, the limiting chute takes the second limiting surface as one side surface of the limiting chute, the bottom surface is vertical to the second limiting surface, and the second through hole is positioned between the inner side of the front side surface of the coaming and the limiting chute; the clamping sliding block consists of a supporting plate, a second spring fixing frame arranged on one side of the top surface of the supporting plate, a needle roller fixing frame arranged on the other side of the bottom surface of the supporting plate and a guide rod arranged on the second spring fixing frame, the length of the supporting plate is matched with the interval between the first bottom plate and the second wing protection plate, and the width of the supporting plate is matched with the width of the first bottom plate; the guide rod on the second spring fixing frame is inserted into the inner hole of the guide tube arranged on the first spring fixing frame, the needle roller fixing frame is positioned outside the first shell, the spring is sleeved on the guide tube, two ends of the spring are respectively connected with the first spring fixing frame and the second spring fixing frame, and two needle rollers are respectively arranged on two sides of the needle roller fixing frame; one end of the X-direction lead screw is arranged on a supporting seat arranged on the upper part of the inner side surface of the second wing protection plate in the first shell, the X-direction right-angle speed reducer, the X-direction driving motor and the Y-direction right-angle speed reducer are arranged on the inner side surface of the base plate in the first shell, the Y-direction driving motor is fixed through a bracket arranged on the base plate in the first shell, and the Z-direction driving motor and the plane gear transmission mechanism are positioned in the first shell; the Z-direction right-angle speed reducer, the Z-direction lead screw and the grinding motor are positioned in the second shell, and a sliding wheel connected with the lower end of the Z-direction lead screw is positioned in a limiting sliding groove arranged on a second bottom plate of the second shell.
The automatic intraoral operation device for dental treatment is characterized in that the control unit mainly comprises a CNC (computer numerical control) system provided with a control program, and an X-direction motor driver, a Y-direction motor driver and a Z-direction motor driver which are connected with the CNC system.
According to the automatic intraoral operation device for dental treatment, the X-direction driving motor, the Y-direction driving motor and the Z-direction driving motor can be miniature stepping motors or servo motors, and the grinding motor is a small-sized direct current motor.
Above-mentioned an automatic operation device in oral cavity for dental treatment, X is to the screw and Z is square slider formula screw to the contact of first spacing face, second spacing face better, prevent rotatory emergence, make the motion transmission more accurate.
The motion principle of the miniaturized intraoral automatic operation device for dental treatment is as follows: the X-direction motion of the grinding needle is driven by an X-direction driving motor, and the X-direction screw rod is driven to rotate after power amplification by an X-direction right-angle speed reducer, so that an X-direction screw nut is driven to slide along the X-direction, and the X-direction motion of the grinding needle is realized; the Y-direction motion of the grinding needle is driven by a Y-direction driving motor, and the rolling gear is driven to move on the rack after power amplification by a Y-direction right-angle speed reducer so as to realize the Y-direction motion of the grinding needle; the Z-direction motion of the grinding needle is driven by a Z-direction driving motor, and the Z-direction screw rod is driven to rotate after the Z-direction driving motor is driven by the planar gear transmission mechanism and the power of the Z-direction right-angle speed reducer is amplified, so that the Z-direction screw nut is driven to slide along the Z-direction, and the Z-direction motion of the grinding needle is realized; the motion principle can enable the grinding needle to perform three-dimensional motion so as to grind teeth, and automatic medical operations such as oral cavity marrow opening and tooth preparation are achieved.
The using method of the automatic intraoral operation device for dental treatment comprises the following steps:
1. three-dimensional scanning is carried out on the dentition of the patient to obtain dentition model data;
2. covering a dental socket plate in the positioning unit at the upper end of a U-shaped through hole of the dental socket, combining the dental socket plate with the first U-shaped plate and the second U-shaped plate, and filling a silicone rubber impression material into the U-shaped through hole of the dental socket;
3. placing the positioning unit filled with the silicone rubber impression material into the oral cavity of a patient, enabling teeth of the patient to bite the positioning unit and enable dentition of the patient to completely enter the U-shaped through holes of the dental socket, and then taking down the dental socket plate;
4. performing a second three-dimensional scanning on the oral cavity of the patient to obtain model data of the combination of the dental socket and the dental dentition, then performing inverse calculation according to the dental dentition model data obtained in the step 1 and the model data of the combination of the dental socket and the dental dentition obtained in the scanning to obtain a motion track of a grinding needle, processing and resolving the motion track of the grinding needle to obtain running driving programs of an X-direction driving motor, a Y-direction driving motor and a Z-direction driving motor, and inputting the running driving programs into a CNC (computer numerical control) system;
5. the operation unit is placed in the oral cavity of a patient and combined with the positioning unit, and the control unit is connected with the operation unit, so that operations such as marrow opening or tooth preparation can be performed under the control of the control unit.
The above-mentioned "according to the dental model data obtained in step 1 and the model data after the dental socket and dental combination obtained in this scanning are reversely solved, get the motion track of the grinding needle" can refer to "decompilation technology and software reverse analysis" books published by national defense industry publishers (11 months in 2009, author Zhao Rongcai, etc.); the above-mentioned "the motion trail of the grinding needle is processed and resolved to obtain the running driving program of the X-direction driving motor, the Y-direction driving motor and the Z-direction driving motor" can refer to books of motor driving technology published by science publishers (month 7 in 2008, author Wang Shufang).
Compared with the prior art, the invention has the following beneficial effects:
1. the positioning unit of the automatic intraoral operation device is convenient to combine with the dentition of a patient and can be used as a moving guide rail of the operation unit, and the housing of the operation unit is small (not more than 8 cubic centimeters), so that the operation unit is positioned in the oral cavity when in operation and the standard is determined by the positioning unit, therefore, when the automatic intraoral operation device is used for dental pulp opening and dental preparation operation, the head of the patient is not required to be strictly fixed, the treatment precision is ensured, the operation of fixing the head of the patient is simplified, and the patient is more comfortable.
2. Because the clamping slide block in the operation unit of the automatic operation device in the oral cavity is combined with the first shell through the spring, and the two rolling pins are arranged at the lower part of the clamping slide block, the rolling gears of the operation unit are meshed with the racks of the positioning unit because the two rolling pins are embedded into the grooves arranged on the outer side face of the first U-shaped plate of the tooth socket in the combination of the operation unit and the positioning unit, the operation unit can be stably arranged on the positioning unit through the clamping slide block, the Y-direction coordinate axis of the operation unit can be always tangent with the bending track of the racks, and meanwhile, the rolling action of the rolling pins in movement can reduce the friction force of movement.
3. When the automatic operation device in the oral cavity prepares the teeth of a patient, the grinding precision is high, and the ideal abutment can be prepared more accurately, so that the tooth treatment effect is more perfect.
4. The automatic operation device in the oral cavity belongs to automatic equipment, can intelligently operate teeth, greatly lightens the working intensity of dentists, reduces the labor cost and improves the working efficiency.
5. The automatic working device in the oral cavity has low working voltage (only 5V), precise and fine movement amplitude, and the sealed shell of the working unit can prevent the grinding needle from exceeding the range movement, thereby being beneficial to ensuring the safety of patients.
6. Because the operation unit in the automatic operation device in the oral cavity has small volume and the components are easy to process and manufacture, compared with the existing automatic tooth treatment device or operation robot system, the automatic operation device in the oral cavity has greatly reduced manufacturing cost.
Drawings
FIG. 1 is a schematic view showing a combination of a positioning unit and a working unit of an intraoral automatic working device for dental treatment according to the present invention;
FIG. 2 is a schematic view of a three-dimensional rectangular coordinate system of an operation unit in an automatic oral operation device for dental treatment according to the present invention
FIG. 3 is a schematic view showing the structure of a positioning unit in an intraoral automatic working apparatus for dental treatment according to the present invention;
FIG. 4 is an exploded view of a positioning unit of an intraoral automatic working device for dental treatment according to the present invention;
fig. 5 is an exploded view of a working unit in an intraoral automatic working device for dental treatment according to the present invention;
FIG. 6 is a schematic view of an intraoral automatic working device for dental treatment according to the present invention with a working unit removed from the cover plate;
FIG. 7 is a cross-sectional view A-A of FIG. 6;
FIG. 8 is a schematic view of the distribution of the first housing and components within the first housing in the work unit;
fig. 9 is a schematic structural view of the first casing in the working unit;
fig. 10 is a schematic structural view of the second housing in the working unit;
FIG. 11 is a schematic view of the structure of a face gear transmission mechanism in the work unit;
FIG. 12 is a schematic view of the structure of the clamping slider in the work unit;
fig. 13 is a schematic view of a control unit in an intraoral automatic working apparatus for dental treatment according to the present invention.
In the figure, 1-tooth socket, 1.1-first U-shaped plate, 1.1.1-groove, 1.1.2-first convex edge, 1.2-second U-shaped plate, 1.2.1-second convex edge, 1.3-connecting strip, 1.4-U-shaped through hole, 2-rack, 3-tooth socket plate, 4-first shell, 4.1-base plate, 4.2-first wing plate, 4.3-bracket, 4.4-first spring fixing frame, 4.5-guide tube, 4.6-first limit surface, 4.7-supporting seat, 4.8-first bottom plate, 4.9-second wing plate, 4.10-first through hole, 5-second shell, 5.1-second bottom plate, 5.2-second limit surface, 5.3-limit chute, 5.4-enclosing plate, 5.5-second through hole, 6-cover plate, 7-X-direction driving motor, 8-Y-direction driving motor, 9-Z-direction driving motor, 10-X-direction right-angle speed reducer, 11-Y-direction right-angle speed reducer, 12-Z-direction right-angle speed reducer, 13-rolling gear, 14-plane gear transmission mechanism, 14.1-box, 14.2-gear, 15-X-direction screw, 16-X-direction screw, 17-Z-direction screw, 18-Z-direction screw, 19-sliding wheel, 20-spring, 21-clamping slider, 21.1-second spring fixing frame, 21.2-guide rod, 21.3-needle fixing frame, 21.4-supporting plate, 22-needle, 23-grinding motor connecting piece, 24-grinding motor and 25-grinding needle.
Detailed Description
The automatic intraoral operation device for dental treatment according to the present invention will be further described with reference to the accompanying drawings by way of examples.
The automatic intraoral operation device for dental treatment in the embodiment comprises a positioning unit, an operation unit and a control unit.
The structure of the positioning unit is shown in fig. 3 and 4, and comprises a tooth socket 1, a rack 2 and a tooth socket plate 3; the tooth socket 1 is formed by combining a first U-shaped plate 1.1, a second U-shaped plate 1.2 and two connecting strips 1.3, the lower ends of the front sections of two arms of the first U-shaped plate 1.1 and the second U-shaped plate 1.2 are inclined planes, a groove 1.1.1 combined with an operation unit is formed in the upper part of the outer side surface of the first U-shaped plate, the second U-shaped plate is positioned on the inner side of the first U-shaped plate and is parallel to the first U-shaped plate, a space convenient for the dentition of a patient to enter is reserved between the second U-shaped plate and the first U-shaped plate, the upper edges of the end parts of the two arms of the first U-shaped plate and the second U-shaped plate are respectively connected by the two connecting strips to form a socket body containing a U-shaped through hole 1.4, a first convex edge 1.1.2 facing the U-shaped through hole 1.4 is further arranged at the upper end of the first U-shaped plate 1.2, and a second convex edge 1.1 facing the U-shaped through hole 1.4 is arranged at the upper end of the second U-shaped plate 1.2; the rack 2 is a U-shaped rack matched with the inner side surface of the second U-shaped plate and is fixed on the inner side surface of the second U-shaped plate 1.2 in an adhesive manner; when in use, the dental socket plate 3 covers the upper end of the U-shaped through hole 1.4 and is combined with the first U-shaped plate 1.1 and the second U-shaped plate 1.2.
The operation unit comprises a shell, a cover plate 6 matched and combined with the shell, an X-direction driving motor 7, a Y-direction driving motor 8, a Z-direction driving motor 9, an X-direction right-angle speed reducer 10, a Y-direction right-angle speed reducer 11, a Z-direction right-angle speed reducer 12, a face gear transmission mechanism 14, an X-direction screw 15, an X-direction screw 16, a Z-direction screw 17, a Z-direction screw 18, a sliding wheel 19, a spring 20, a clamping sliding block 21, a grinding motor connecting piece 23, a grinding motor 24, a rolling gear 13, a needle roller 22 and a grinding needle 25, wherein the rolling gear 13 is matched with a rack 2 in the positioning unit.
As shown in fig. 6, the casing of the working unit is composed of a first casing 4 and a second casing 5. The first shell 4 is shown in fig. 9, and comprises a base plate 4.1, a first wing protection plate 4.2, a second wing protection plate 4.9 and a first bottom plate 4.8, wherein the first wing protection plate 4.2 and the second wing protection plate 4.9 are respectively positioned at two sides of the base plate and are of an integrated structure with the base plate, the first bottom plate is positioned at the lower end of the base plate, one side of the first bottom plate is fixedly connected with the base plate through bonding, one end of the first bottom plate is fixedly connected with the first wing protection plate through bonding, a space for installing a clamping sliding block 21 is reserved between the other end of the first bottom plate and the second wing protection plate, a supporting seat 4.7 for installing an X-direction screw is arranged at the upper part of the inner side surface of the second wing protection plate 4.9, a first limit surface 4.6 for preventing the rotation of an X-direction screw is arranged at the upper part of the inner side surface of the base plate 4.1, a first spring fixing frame 4.4 is arranged at the position of the first bottom plate, a bracket 4.3 for installing a Y-direction driving motor is arranged between the first spring fixing frame and the first wing protection plate, a right-angle speed reducer is arranged between the bracket and the first wing protection plate, a first power output end 4.10.5 for the Y-direction reducer is arranged on the guide tube. The second shell 5 is shown in fig. 10, and comprises a second bottom plate 5.1 and a coaming 5.4 surrounding the second bottom plate, wherein the lower end of the coaming is fixedly connected with the second bottom plate, a second limiting surface 5.2 for preventing the Z-direction nut from rotating is arranged on the inner side of the rear side surface of the coaming, a limiting chute 5.3 for directional sliding of the sliding wheel and a second through hole 5.5 for the grinding motor to pass through are arranged on the second bottom plate, the limiting chute 5.3 takes the second limiting surface 5.3 as one side surface of the limiting chute, the bottom surface is perpendicular to the second limiting surface 5.2, and the second through hole 5.5 is positioned between the inner side of the front side surface of the coaming and the limiting chute 5.3. The first casing 4 and the second casing 5 are combined by adhesion, and after the combination, the volume thereof is 20mm×20mm.
As shown in fig. 12, the clamping slider 21 in the operation unit is composed of a supporting plate 21.4, a second spring fixing frame 21.1 arranged on one side of the top surface of the supporting plate, a needle roller fixing frame 21.3 arranged on the other side of the bottom surface of the supporting plate and a guide rod 21.2 arranged on the second spring fixing frame, the length of the supporting plate 21.4 is matched with the interval between the first bottom plate and the second wing protection plate, and the width of the supporting plate 21.4 is matched with the width of the first bottom plate.
The face gear drive 14 in the working unit is shown in fig. 11 and comprises a housing 14.1 and a drive gear 14.2. The X-direction screw rod 16 and the Z-direction screw rod 18 in the operation unit are screw rods with the outer diameter of 3mm, the X-direction screw rod 15 and the Z-direction screw rod 17 are square sliding block type screw rods matched with the X-direction screw rod 16 and the Z-direction screw rod 18, the X-direction driving motor 7, the Y-direction driving motor 8 and the Z-direction driving motor 9 are miniature servo motors, and the grinding motor 24 is a miniature direct current motor.
The mounting and combining modes of the members in the working unit are as shown in fig. 6, 7 and 8: the X-direction right-angle speed reducer 10, the X-direction driving motor 7 and the Y-direction right-angle speed reducer 11 are fixed on the inner side surface of the base plate 4.1 in the first shell 4 through bonding, one end of an X-direction screw 16 is arranged on a supporting seat 4.7 arranged on the upper part of the inner side surface of the second wing protection plate 4.9 in the first shell 4, the other end of the X-direction screw 16 is connected with the power output end of the X-direction right-angle speed reducer 10, the axis of the X-direction screw is parallel to the base plate 4.1 of the first shell, the power input end of the X-direction right-angle speed reducer 10 is connected with the X-direction driving motor 7, and an X-direction screw 15 is arranged on the X-direction screw 16 and is contacted with a first limiting surface 4.6 arranged on the upper part of the inner side surface of the base plate 4.1 of the first shell; the Y-direction driving motor 8 is fixed through a bracket 4.3 arranged on a bottom plate in the first shell, the Y-direction driving motor 8 is connected with a power input end of the Y-direction right-angle speed reducer 11, and a power output end of the Y-direction right-angle speed reducer 11 is connected with a rolling gear 13; the upper end of the Z-direction screw rod 18 is connected with the power output end of a Z-direction right-angle speed reducer, the lower end of the Z-direction screw rod 18 is connected with a sliding wheel 19, the power input end of the Z-direction right-angle speed reducer is connected with the power output end of a plane gear transmission mechanism 14, the power input end of the plane gear transmission mechanism is connected with a Z-direction driving motor, a box body 14.1 of the plane gear transmission mechanism is connected with an X-direction screw 15, the Z-direction screw 17 is arranged on the Z-direction screw rod 18 and is contacted with a second limiting surface 5.2 arranged on the inner side of the rear side surface of a second shell coaming, the sliding wheel 19 is positioned in a limiting chute 5.3 arranged on a second bottom plate of the second shell, a grinding motor 24 is connected with the Z-direction screw 17 through a grinding motor connecting piece 23, a grinding needle 25 is connected with the power output shaft of the grinding motor 24, the Z-direction driving motor 9 and the plane gear transmission mechanism 14 are positioned in the first shell 4, and the Z-direction screw rod 18 and the grinding motor 24 are positioned in the second shell 5; the guide rod 21.2 on the second spring fixing frame in the clamping slide block 21 is inserted into the inner hole of the guide tube 4.5 arranged on the first spring fixing frame, the needle roller fixing frame 21.3 is positioned outside the first shell, the spring 20 is sleeved on the guide tube 4.5, two ends of the spring 20 are respectively connected with the first spring fixing frame and the second spring fixing frame and are in a stretching state, the force applied to the first spring fixing frame and the second spring fixing frame is a pulling force, the combination of the clamping slide block 21 and the first shell 4 is realized through the acting force of the spring 20, and the two needle rollers 22 are respectively arranged on two sides of the needle roller fixing frame 21.3.
The three-dimensional rectangular coordinate system of the operation unit is shown in fig. 2, the Y axis of the three-dimensional rectangular coordinate system is perpendicular to the base plate 4.1 of the first shell, and is always tangent to the bending track of the rack during operation, the X axis is perpendicular to the Y axis, the Z axis is perpendicular to the X axis and the Y axis and passes through the origin of the three-dimensional rectangular coordinate system, and the origin of the three-dimensional rectangular coordinate system can be located among the cover plate, the bottom plate or the cover plate and the bottom plate of the shell.
The combination mode of the operation unit and the positioning unit is shown in fig. 1: the operation unit is arranged on the tooth socket 1 of the positioning unit, the rolling gear 13 of the operation unit is meshed with the rack 2 of the positioning unit during installation, the two rolling pins 22 of the operation unit are embedded into the groove 1.1.1 arranged on the outer side face of the first U-shaped plate of the tooth socket, and the clamping sliding block is combined with the first shell 4 through the spring 20 due to the fact that the two rolling pins 22 are arranged on the clamping sliding block 21, therefore, the operation unit can be stably arranged on the positioning unit through the clamping sliding block, and the fact that Y-direction coordinate axes of the operation unit are always tangential to a bending track of the rack can be guaranteed.
The control unit is shown in fig. 13, and mainly comprises a CNC (computerized numerical control) system provided with a control program, an X-direction motor driver, a Y-direction motor driver and a Z-direction motor driver, wherein the X-direction motor driver, the Y-direction motor driver and the Z-direction motor driver are connected with the CNC system, the CNC system is a Siemens 840D numerical control system, and the X-direction motor driver, the Y-direction motor driver and the Z-direction motor driver are Siemens V90 servo drivers. The X-direction motor driver, the Y-direction motor driver and the Z-direction motor driver are respectively connected with the X-direction driving motor 7, the Y-direction driving motor 8 and the Z-direction driving motor 9, and the CNC numerical control system is operated to enable the X-direction driving motor 7, the Y-direction driving motor 8 and the Z-direction driving motor 9 to operate according to requirements, so that tooth pulp opening and tooth preparation operation are carried out on a patient through the grinding needle 25.
Claims (9)
1. An automatic intraoral operation device for dental treatment is characterized by comprising a positioning unit, an operation unit and a control unit;
the positioning unit comprises a tooth socket (1), a rack (2) and a tooth socket plate (3), wherein the tooth socket (1) is formed by combining a first U-shaped plate (1.1), a second U-shaped plate (1.2) and two connecting strips (1.3), a groove (1.1.1) combined with an operation unit is formed in the upper part of the outer side surface of the first U-shaped plate, the second U-shaped plate is positioned in the inner side of the first U-shaped plate and is parallel to the first U-shaped plate, a space which is convenient for the dentition of a patient to enter is reserved between the second U-shaped plate and the first U-shaped plate, the upper edges of the end parts of two arms of the first U-shaped plate and the second U-shaped plate are respectively connected by the two connecting strips to form a sleeve body with a U-shaped through hole (1.4), the rack (2) is a U-shaped rack matched with the inner side surface of the second U-shaped plate and is fixed on the inner side surface of the second U-shaped plate (1.2), and the tooth socket plate (3) is covered at the upper end of the U-shaped through hole (1.4) and is combined with the first U-shaped plate (1.1.2) when in use;
the operation unit comprises a shell, a cover plate (6) matched and combined with the shell, an X-direction driving motor (7), a Y-direction driving motor (8), a Z-direction driving motor (9), an X-direction right-angle speed reducer (10), a Y-direction right-angle speed reducer (11), a Z-direction right-angle speed reducer (12), a plane gear transmission mechanism (14), an X-direction screw nut (15), an X-direction screw (16), a Z-direction screw nut (17), a Z-direction screw (18), a sliding wheel (19), a spring (20), a grinding motor connecting piece (23) and a grinding motor (24), a rolling gear (13), a rolling needle (22) and a grinding needle (25) which are arranged outside the shell, and a clamping slider (21) used for installing the rolling needle and combined with the shell, wherein the rolling gear (13) is matched with a rack in the positioning unit, and the external dimension of the shell is limited by the oral cavity of a patient; one end of an X-direction screw rod (16) is arranged on the shell, the other end of the X-direction screw rod is connected with the power output end of an X-direction right-angle speed reducer (10) arranged on the shell, the power input end of the X-direction right-angle speed reducer (10) is connected with an X-direction driving motor (7) arranged on the shell, and an X-direction nut (15) is arranged on the X-direction screw rod (16) and is contacted with a first limiting surface (4.6) arranged on the shell; the Y-direction driving motor (8) is arranged on the shell, the Y-direction driving motor is connected with the power input end of the Y-direction right-angle speed reducer (11), and the power output end of the Y-direction right-angle speed reducer (11) is connected with the rolling gear (13); the upper end of the Z-direction screw rod (18) is connected with the power output end of the Z-direction right-angle speed reducer, the lower end of the Z-direction screw rod (18) is connected with a sliding wheel (19), the power input end of the Z-direction right-angle speed reducer is connected with the power output end of the plane gear transmission mechanism, the power input end of the plane gear transmission mechanism is connected with the Z-direction driving motor, the box body of the plane gear transmission mechanism is connected with the X-direction screw nut (15), the Z-direction screw nut (17) is arranged on the Z-direction screw rod (18) and is contacted with a second limiting surface (5.2) arranged on the shell, and the sliding wheel (19) is positioned in a limiting chute (5.3) arranged on the bottom plate of the shell; the grinding motor (24) is connected with the Z-direction screw nut (17) through a grinding motor connecting piece (23), and the grinding needle (25) is connected with a power output shaft of the grinding motor (24); the clamping slide block (21) is combined with the shell through a spring (20), and two rolling pins (22) are respectively arranged at two sides of the lower part of the clamping slide block;
the operation unit is arranged on a tooth socket (1) of the positioning unit, when the operation unit is arranged, two rolling pins (22) of the operation unit are embedded into grooves (1.1.1) arranged on the outer side surface of a first U-shaped plate of the tooth socket, and a rolling gear (13) of the operation unit is meshed with a rack (2) of the positioning unit;
the control unit is used for controlling the operation of an X-direction driving motor (7), a Y-direction driving motor (8) and a Z-direction driving motor (9) in the operation unit.
2. An intra-oral automatic working device for dental treatment according to claim 1, characterized in that the upper end of the first U-shaped plate (1.1) of the mouthpiece (1) is provided with a first ledge (1.1.2) facing the U-shaped through hole (1.4), and the upper end of the second U-shaped plate (1.2) is provided with a second ledge (1.2.1) facing the U-shaped through hole (1.4).
3. An intraoral automatic working device according to claim 1 or 2, wherein the housing is composed of a first housing (4) and a second housing (5); the first shell (4) comprises a base plate (4.1), a first wing protection plate (4.2), a second wing protection plate (4.9) and a first bottom plate (4.8), wherein the first wing protection plate (4.2) and the second wing protection plate (4.9) are respectively positioned at two sides of the base plate and fixedly connected with the base plate or are of an integrated structure, the first bottom plate is positioned at the lower end of the base plate, one side of the first bottom plate is fixedly connected with the base plate, one end of the first bottom plate is fixedly connected with the first wing protection plate, a space for installing a clamping sliding block (21) is reserved between the other end of the first bottom plate and the second wing protection plate, a supporting seat (4.7) for installing an X-direction screw rod is arranged at the upper part of the inner side surface of the second wing protection plate (4.9), a first limiting surface (4.6) for preventing the rotation of an X-direction screw nut is arranged at the upper part of the inner side surface of the base plate (4.1), a first spring fixing frame (4.4) is arranged at the position of the first bottom plate, a bracket (4.3) for installing a Y-direction driving motor is arranged between the first spring fixing frame and the first wing protection plate, a right-angle guide tube (4.5) is arranged between the bracket and the first wing plate, and the right-angle guide tube (4.5) is arranged on the right-angle guide tube; the second shell (5) comprises a second bottom plate (5.1) and a coaming (5.4) surrounding the second bottom plate, the lower end of the coaming is fixedly connected with the second bottom plate or is of an integrated structure, a second limiting surface (5.2) for preventing a Z-direction screw nut from rotating is arranged on the inner side of the rear side surface of the coaming, a limiting chute (5.3) for enabling a sliding wheel to directionally slide and a second through hole (5.5) for enabling a grinding motor to pass through are arranged on the second bottom plate, the limiting chute (5.3) takes the second limiting surface (5.2) as one side surface of the limiting chute, the bottom surface is perpendicular to the second limiting surface (5.2), and the second through hole (5.5) is positioned between the inner side surface of the front side surface of the coaming and the limiting chute (5.3);
the clamping sliding block (21) is composed of a supporting plate (21.4), a second spring fixing frame (21.1) arranged on one side of the top surface of the supporting plate, a needle roller fixing frame (21.3) arranged on the other side of the bottom surface of the supporting plate and a guide rod (21.2) arranged on the second spring fixing frame, the length of the supporting plate (21.4) is matched with the interval between the first bottom plate and the second wing protection plate, and the width of the supporting plate (21.4) is matched with the width of the first bottom plate; a guide rod (21.2) on the second spring fixing frame is inserted into an inner hole of a guide tube (4.5) arranged on the first spring fixing frame, a needle roller fixing frame (21.3) is positioned outside the first shell, a spring (20) is sleeved on the guide tube (4.5), two ends of the spring are respectively connected with the first spring fixing frame and the second spring fixing frame, and two needle rollers (22) are respectively arranged on two sides of the needle roller fixing frame (21.3);
one end of the X-direction screw rod (16) is arranged on a supporting seat (4.7) arranged on the upper part of the inner side surface of the second wing protection plate (4.9) in the first shell (4), the X-direction right-angle speed reducer (10), the X-direction driving motor (7) and the Y-direction right-angle speed reducer (11) are arranged on the inner side surface of the base plate (4.1) in the first shell (4), the Y-direction driving motor (8) is fixed through a bracket (4.3) arranged on the base plate in the first shell, and the Z-direction driving motor (9) and the plane gear transmission mechanism (14) are positioned in the first shell (4); the Z-direction right-angle speed reducer (12), the Z-direction lead screw (18) and the grinding motor (24) are positioned in the second shell (5), and a sliding wheel (19) connected with the lower end of the Z-direction lead screw is positioned in a limiting sliding groove (5.3) arranged on a second bottom plate of the second shell.
4. The automatic intraoral operation device for dental treatment according to claim 1 or 2, wherein the control unit is mainly composed of a CNC numerical control system provided with a control program, and an X-direction motor driver, a Y-direction motor driver, and a Z-direction motor driver connected to the numerical control system.
5. The automatic intraoral operation device for dental treatment according to claim 3, wherein the control unit is mainly composed of a CNC numerical control system provided with a control program, and an X-direction motor driver, a Y-direction motor driver, and a Z-direction motor driver connected to the numerical control system.
6. An intraoral automatic working device according to claim 1 or 2, wherein the X-direction screw (15) and the Z-direction screw (17) are square slider screws.
7. An intraoral automatic working device according to claim 3, wherein said X-direction screw (15) and Z-direction screw (17) are square slider screws.
8. An intraoral automatic working device for dental treatment according to claim 4, wherein the X-direction screw (15) and the Z-direction screw (17) are square slider screws.
9. An intraoral automatic working device for dental treatment according to claim 5, wherein the X-direction screw (15) and the Z-direction screw (17) are square slider screws.
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| CN201811141659.3A CN109330718B (en) | 2018-09-28 | 2018-09-28 | Automatic intraoral operation device for dental treatment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811141659.3A CN109330718B (en) | 2018-09-28 | 2018-09-28 | Automatic intraoral operation device for dental treatment |
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| CN109330718B true CN109330718B (en) | 2023-12-12 |
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| CN109820608B (en) * | 2019-03-25 | 2024-01-12 | 北京大学口腔医学院 | Root canal treatment robot |
| CN113397729B (en) * | 2021-06-16 | 2022-03-22 | 苏州新我医疗器械有限公司 | Multi-angle tooth system of polishing based on thing networking |
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