CN112638316A - Oral cavity robot and using method thereof - Google Patents
Oral cavity robot and using method thereof Download PDFInfo
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- CN112638316A CN112638316A CN202080002924.9A CN202080002924A CN112638316A CN 112638316 A CN112638316 A CN 112638316A CN 202080002924 A CN202080002924 A CN 202080002924A CN 112638316 A CN112638316 A CN 112638316A
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- oral
- robot
- oral cavity
- arm
- cavity
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C19/00—Dental auxiliary appliances
- A61C19/06—Implements for therapeutic treatment
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
Abstract
The invention discloses an oral robot and a use method thereof, the oral robot comprises a support component and a robot body, wherein the support component is used for opening an oral cavity and comprises at least one support arm; the robot body is connected to the supporting component and comprises an operation arm and an image acquisition device. The use method of the oral robot comprises the following steps: the oral robot enters into the oral cavity, and the support component supports in the oral cavity; the image acquisition device shoots an image in the oral cavity; the operation arm performs medical operation and operation according to the image in the oral cavity. By the oral robot and the use method thereof, a doctor can perform oral examination and operation by means of the oral robot, so that the automation degree and operability of the oral examination and operation can be greatly improved, oral cleaning and self-inspection can be facilitated, the comfort of a patient is improved, the examination and operation accuracy is improved, the operation time and the wound recovery time can be shortened, and the oral robot and the use method thereof have important meanings for improving the medical quality, improving the medical experience and avoiding medical safety accidents.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to an oral robot and a using method thereof.
Background
Along with the improvement of living standard of people, the demand of people on medical services is higher and higher, the oral health is more and more emphasized by people, the oral examination is used for examining a diagnosis mode of pathological changes in the oral cavity of a human body, and the application range is very wide. In addition, in the traditional oral surgery, because the internal space of the oral cavity is narrow, the visual field and operation of a doctor are limited when the doctor performs the surgery, and even the doctor with more experience inevitably has errors.
Therefore, an oral robot and a using method thereof are urgently needed, doctors can conduct oral examination and operation by means of the oral robot, the automation degree and operability of the oral examination and operation can be greatly improved, the comfort of patients is improved, the examination and operation accuracy is improved, and the operation time and the wound recovery time can be shortened.
Disclosure of Invention
The main purposes of the invention are: the oral robot and the use method thereof are provided, so that a doctor can perform oral examination and operation by means of the oral robot, the automation degree and operability of the oral examination and operation can be greatly improved, the oral cleaning and self-inspection can be helped, the comfort of a patient is improved, the examination and operation accuracy is improved, the operation time and the wound recovery time can be shortened, and the oral robot and the use method thereof have important significance for improving the medical quality, improving the medical experience and avoiding medical safety accidents.
In order to achieve the above object, the present invention provides an oral robot, comprising a support assembly and a robot body,
the support assembly is used for expanding the oral cavity and comprises at least one support arm;
the robot body is connected to the support assembly and comprises an operation arm and an image acquisition device, wherein the operation arm is used for performing medical operations and operations in the oral cavity; the image acquisition device is used for shooting images in the oral cavity.
An oral robot as claimed in above, the support assembly further comprising at least one fixture for fixing to a tooth or an inner wall of the oral cavity.
An oral robot as above, the support assembly further comprising a track on which the robot body is moveable.
The oral robot further comprises a mechanical arm, and the image acquisition device is arranged on the mechanical arm and can acquire images at a proper position.
The oral cavity robot comprises a surgical arm and at least one surgical instrument, wherein the surgical instrument comprises a knife, a pair of scissors, a needle, a pair of forceps, a clamp, an electric welding head, an electric cautery head, an electric heating head, an illumination probe, a radioactive probe, an ultrasonic probe, an electromagnetic probe, a flushing device, a cleaning device, a medicine feeding device, a brush head, an ultrasonic cleaning head, dental floss and a toothpick.
The oral robot as described above further includes a protection device for protecting the tongue and other non-operative parts in the oral cavity from being damaged by the surgical arm when the surgical arm performs a medical operation or operation.
The oral robot as described above further includes a processor, and the processor can automatically control the oral robot to perform medical operations and operations according to actual conditions in the oral cavity according to the images in the oral cavity captured by the image capturing device.
The oral robot further comprises a communication module for passing back the shot images in the oral cavity and/or receiving the operation instructions, and the oral robot operates according to the received operation instructions.
The oral robot transmits the shot images in the oral cavity to an external server, constructs an oral cavity model of the patient, displays the real situation in the oral cavity of the patient, and is used for cleaning and self-checking the oral cavity of the user, or medical staff performs symptom analysis, gives a diagnosis result, designs/recommends/determines an operation or an operation scheme, positions an operation site, and assists in executing the operation/operation.
The invention also provides a use method of the oral robot, which comprises the following steps:
s1: the oral robot enters into the oral cavity, and the support component supports in the oral cavity;
s2: the image acquisition device shoots an image in the oral cavity;
s3: the operation arm performs medical operation and operation according to the image in the oral cavity.
The invention relates to an oral robot and a using method thereof, wherein the oral robot comprises a support component and a robot body, wherein the support component is used for expanding an oral cavity and comprises at least one support arm; the robot body is connected to the supporting component and comprises an operation arm and an image acquisition device. The use method of the oral robot comprises the following steps: the oral robot enters into the oral cavity, and the support component supports in the oral cavity; the image acquisition device shoots an image in the oral cavity; the operation arm performs medical operation and operation according to the image in the oral cavity. By the oral robot and the use method thereof, a doctor can perform oral examination and operation by means of the oral robot, so that the automation degree and operability of the oral examination and operation can be greatly improved, oral cleaning and self-inspection can be facilitated, the comfort of a patient is improved, the examination and operation accuracy is improved, the operation time and the wound recovery time can be shortened, and the oral robot and the use method thereof have important meanings for improving the medical quality, improving the medical experience and avoiding medical safety accidents.
Drawings
Fig. 1 is a schematic view of an oral robot of the present invention.
FIG. 2 is a method flow diagram of a method of using an oral robot of the present invention.
Detailed Description
To further explain the technical means and effects of the present invention adopted to achieve the intended purpose, the following detailed description of the embodiments of the present invention is provided in conjunction with the accompanying drawings and examples.
A first embodiment of the present invention is described with reference to fig. 1. Fig. 1 is a schematic view of an oral robot of the present invention. As shown in the drawings, the oral robot of the present invention includes a support assembly and a robot body 10. The support component is used for expanding the oral cavity and comprises at least one support arm 120, and the support arm 120 is used for supporting on teeth or the inner wall of the oral cavity, expanding the oral cavity and stabilizing the position of the oral cavity robot in the oral cavity. The robot body is connected to the support assembly and comprises an operation arm 14 and an image acquisition device 13, wherein the operation arm is used for performing medical operations and operations in the oral cavity; the image acquisition device is used for shooting images in the oral cavity. The robot body may further comprise a housing 11 for preventing liquids from entering and corroding parts of the robot body, including the surgical arm and the image acquisition device.
The oral robot of the invention can be used for oral examination, oral image acquisition, oral surgery and the like. The support arm 120 may include a support base 121 that contacts and supports a tooth or an inner wall of the oral cavity, an angle adjusting means 123 for adjusting an angle of the support arm, and a telescopic means 122 for adjusting a length of the support arm.
The support assembly may be retractable into the housing 11 or may be external to the housing. Accordingly, the support arm 120 may be located on the outer surface of the housing 11; or the housing 11 has a sandwich in which the support arms 120 are located; or the support arm is positioned in the shell 11, the support seat 121 extends out of the shell 11 through the opening during expansion, contacts the inner wall and supports in the oral cavity, the angle of the support arm 120 can be adjusted through the angle adjusting device 123, and the length of the support arm 120 can be adjusted through the telescopic device 122. The cooperative support of the plurality of support arms 120 stabilizes the position of the oral robot within the oral cavity. In the present invention, the number of the support arms 120 included in the support assembly is preferably 4 or 6, or may be other numbers, and each support arm 120 selects an appropriate angle and length according to the actual conditions in the oral cavity, including shape, size and position, and cooperates with each other to support and fix the position of the oral robot in the oral cavity. The support assembly may be electrically powered or manually adjusted. The oral robot may further comprise a battery for supplying power. The oral robot can also be powered by an external power line.
According to the oral robot, the pressure sensor is arranged on the supporting arm 120, so that the pressure of the supporting arm 120 on the teeth or the inner wall of the oral cavity is monitored, a threshold value is set, when the pressure on the teeth or the inner wall of the oral cavity reaches or approaches the threshold value, the supporting arm 120 is limited to extend continuously, and the patient is prevented from being injured.
In order to increase the stability of the fixation, the oral robot of the present invention may further include a fixing device for fixing to the teeth or the inner wall of the oral cavity. In the present invention, the fixing device may be disposed in the support seat 121 of the support arm 120, located at a position where the support arm contacts with the teeth or the inner wall of the oral cavity, and integrated with the support arm; the fixture may also be provided separately from the support arm where the support assembly contacts the teeth or the inner wall of the oral cavity. The fixing device is preferably a tooth occlusion device or a negative pressure adsorption device, and can be other types of fixing devices. For increased comfort, the support 121 of the support arm 120 may be provided with a soft cushion. The support seat 121 may also be made of a material having a certain friction coefficient, and may also function to prevent sliding.
The oral robot of the present invention, the support assembly may further include a rail on which the robot body 10 can move. The tracks may be provided individually or may be multiple tracks. The track may include: the horizontal direction rails are distributed along the teeth, and the U-shaped rails are vertical to the horizontal direction and are arranged along the front, back, up and down of the teeth. The housing 11 of the oral robot is provided with a rail wheel matched with the rail, so that the housing 11 of the oral robot and components therein can move on the rail.
The oral robot of the present invention can also move the position of the oral robot in the oral cavity by adjusting the length and angle of the different support arms 120. When the oral robot is supported and fixed in the oral cavity by the plurality of support arms 120, if the position is required to be moved for photographing or medical operation, the position of the oral robot can be moved in the oral cavity by adjusting the lengths and angles of the different support arms 120. For example: can adjust the telescoping device 122 of the left support arm 120 of oral cavity robot makes left support arm length shorten, the telescoping device 122 of the support arm 120 of adjusting oral cavity robot right side simultaneously makes the support arm length extension on right side, be equivalent to oral cavity robot in the oral cavity to the left side removal, the support arm 120 in other position also need according to oral cavity actual conditions angle of adjustment and length, make oral cavity robot can support and fix in the new position after the removal, or loosen fixing device earlier, treat that oral cavity robot removes to the new position after, look for suitable tooth or oral cavity wall again and fix. The length and angle of each support arm can be adjusted by analyzing and giving specific instructions of adjustment according to the actual conditions in the oral cavity through the processor, or the actual adjustment instructions can be given by the server according to the images in the oral cavity and sent to the oral robot, and the oral robot adjusts according to the instructions.
The oral robot can be supported and fixed by moving the supporting arm, and the position of the oral robot in the oral cavity is moved, so that the oral robot can be used for shooting or medical operation more conveniently, and the shooting or medical operation effect is better.
The image capturing device 13 is used to capture an image in the oral cavity. The image capturing device 13 may be a camera, an infrared imaging device, an ultrasonic imaging device, etc., and the present invention is not limited thereto. The oral robot of the present invention may include one image acquiring device 13, or may include a plurality of image acquiring devices 13. The image capture device 13 may be located at the front, back, or side of the housing 11 and may include a corresponding light source for cooperating with the imaging. The oral robot of the present invention may also establish an oral model by using the oral images at different positions and different angles captured by the image capturing device 13, and may also include a holographic model for examination and subsequent diagnosis and treatment.
The oral robot of the present invention may further include a robot arm on which the image taking device 13 is provided, so that the image taking device 13 can take an image at a suitable position. The image acquiring device 13 may be located inside the housing 11, or may be mounted on a robot arm, and extend out of the housing 11 through the robot arm to acquire an image in the oral cavity. The image acquisition device 13 may further include a rotation device, which may rotate the image acquisition device 13, so that the image acquisition device 13 may capture images in the oral cavity at more angles and more positions by combining with the mechanical arm, and may acquire images in the oral cavity at more suitable positions and angles, so that the result obtained by the oral cavity examination performed by the oral cavity robot of the present invention is more accurate.
The oral cavity robot can further comprise an operation arm 14 for performing medical operations and operations in the oral cavity, wherein the operation arm comprises at least one of a knife, a pair of scissors, a needle, a pair of pliers, a clamp, an electric welding head, an electric cautery head, an electric roasting head, an illumination probe, a radioactive probe, an ultrasonic probe, an electromagnetic probe, a flushing device, a cleaning device, a medicine feeding device, a brush head, an ultrasonic cleaning head, a dental floss and a toothpick. The surgical arm may be used to perform operations such as cutting, shearing, puncturing, suturing, grasping, welding, irrigating, sampling, probing, electrocoagulation, hemostasis, tissue separation and dissection, dredging, radiotherapy, phototherapy, hyperthermia, magnetotherapy, waste or wastewater cleanup, and the like. In the present invention, the cleaning device is preferably a vacuum cleaner-like device. In the present invention, the radioactive probe is preferably a gamma knife. The surgical arm 14 is also retractable and rotatable to facilitate movement of the surgical arm into position. The operation arm can also set up pressure sensor, and the monitoring is to the pressure of tooth or oral cavity inner wall to set up and be fit for a threshold value, when reaching or being close the threshold value to the pressure of tooth or oral cavity inner wall, restrict the operation of operation arm, prevent to cause the injury to the patient. The surgical arm may be disposed within/sandwiched between the housing and may extend out of the housing during operation. The operation arm can also be arranged outside the shell, and the operation arm is close to the target position to carry out relevant operations.
The oral robot can also be used for brushing teeth, cleaning oral cavities, picking teeth and the like, and the operations of brushing teeth, cleaning oral cavities, picking teeth and the like are realized through the brush head, the ultrasonic cleaning head, the dental floss, the toothpick and the like which are arranged on the operation arm, so that a user can more conveniently brush teeth, clean oral cavities and pick teeth, and the effect is better.
The oral cavity robot of the invention is used for applying medicine in the oral cavity by the medicine applying device. The medicine feeding device can be a spraying device and is used for spraying liquid medicine to a position needing medicine feeding; the device can also be a smearing device which is used for smearing medicine to the position needing medicine application and can also be used for smearing toothpaste; or an injection device for injecting the medicament to a specified location; or an implant device for implanting a drug at a specific location. The drug delivery device may be located on the surface of the housing 11, or may be located on the surgical arm 14, or the drug delivery device may have a retractable and rotatable robotic arm to facilitate movement of the drug delivery device to the appropriate location for delivery of the drug.
The oral cavity robot of the invention can also comprise a protection device which is used for protecting the tongue and other non-operation parts in the oral cavity from being damaged by the operation arm when the operation arm carries out medical operation and operation. The protective device can be a baffle plate, and can also be other devices which can protect the tongue and other non-operation parts in the oral cavity.
The oral robot provided by the invention has the advantages that local anesthetic can be contained in parts, such as the supporting arm and the operation arm, of the oral robot, which are contacted with the inside of the oral cavity, so that the local irritation and sensitivity are reduced, and the comfort of a patient is improved.
The oral robot of the present invention may further include a processor, and the processor may automatically control the oral robot to perform a medical operation and operation according to an actual condition in the oral cavity according to an image in the oral cavity captured by the image capturing device 13. In the invention, the oral robot may further include a communication module for passing back the photographed image in the oral cavity and/or receiving an operation instruction, and the oral robot operates according to the received operation instruction. The oral cavity images are transmitted to an external server, the server provides an actual operation scheme according to the oral cavity images, corresponding operation instructions are sent to the oral cavity robot, and after the communication module of the oral cavity robot receives the operation instructions, the processor controls the oral cavity robot to operate according to the operation instructions. The operation instruction may be given by a medical worker based on an intraoral image. The oral robot of the present invention can also be operated by its own processor in conjunction with an external medical staff or server to give an operating scheme. In the invention, when the oral robot operates in the oral cavity, the oral robot can receive an operation instruction sent from the outside through the communication module and then perform corresponding operation according to the operation instruction, or automatically perform corresponding operation according to the actual situation of an image in the oral cavity.
The method of giving the operation plan based on the intraoral image may be; the method comprises the steps of identifying focuses based on images in the oral cavity to give examination results, and then giving a proper operation scheme according to the results and an operation template, wherein the operation template can be obtained according to operation treatment specifications, or obtained by continuous accumulation and refinement of clinicians in the operation treatment process, or obtained by big data analysis, or obtained by artificial intelligence deep learning, and the operation template can be continuously adjusted and updated in the using process.
The oral robot of the invention can also determine the position of the oral robot in the oral cavity through the positioning device. The positioning device can determine the position of the oral robot by taking images of different angles and/or the positions of different teeth in the images through a plurality of cameras. Or may be otherwise located.
The oral robot can transmit the shot images in the oral cavity to an external server, construct an oral cavity model of a patient, show the real situation in the oral cavity of the patient, and be used for cleaning and self-checking the oral cavity of the user, or medical staff to carry out symptom analysis, give a diagnosis result, design/recommendation/determination of an operation or an operation scheme, position an operation site and assist the execution of the operation/operation.
The oral cavity images shot by the oral cavity model can be used independently when the oral cavity model is built, and can also be combined with the images in the oral cavity of a human body. The image of the human oral cavity may be a general image of the human oral cavity or an image of the patient oral cavity obtained by an X-ray device or the like. The real condition in the oral cavity of the patient can be conveniently shown to medical staff through the oral cavity model, the medical staff can carry out symptom analysis, give a diagnosis result, design/recommendation/determination of an operation or an operation scheme through the oral cavity model, and can also position an operation site and assist the execution of the operation/operation by combining the oral cavity model.
The oral cavity robot of the invention can be provided with a line concentration pipe connected to the outside of the human body at the tail part, and the inside of the pipe can comprise an electric wire, a data line, an inflation pipe, a transfusion pipe, a medicine conveying pipe, a waste discharge pipe and the like. The oral robot can also be a separate capsule-shaped robot without a pipeline. When the oral robot enters the oral cavity, the supporting component, the operation arm and the like are all in a retracted state and are retracted into the shell or tightly attached to the shell, and when the oral robot reaches a proper position or receives a corresponding instruction, the supporting component is expanded; or by manually supporting some or all of the support arms of the support assembly in place while the oral robot is in the mouth. When the operation is finished, the related components return to the retracted state, and the robot with the cavity can be conveniently taken out.
A second embodiment of the present invention is seen in figure 2. FIG. 2 is a method flow diagram of a method of using an oral robot of the present invention. The use method of the oral robot of the invention comprises the following steps:
s1: the oral robot enters into the oral cavity, and the support component supports in the oral cavity;
s2: the image acquisition device shoots an image in the oral cavity;
s3: the operation arm performs medical operation and operation according to the image in the oral cavity.
The use method of the oral robot is based on the oral robot, the technical characteristics of the oral robot are in one-to-one correspondence, and the description of the oral robot can be referred to, and is not repeated herein.
In summary, the oral robot and the use method thereof of the present invention include a support assembly and a robot body, wherein the support assembly is used for opening the oral cavity and includes at least one support arm; the robot body is connected to the supporting component and comprises an operation arm and an image acquisition device. The use method of the oral robot comprises the following steps: the oral robot enters into the oral cavity, and the support component supports in the oral cavity; the image acquisition device shoots an image in the oral cavity; the operation arm performs medical operation and operation according to the image in the oral cavity. By the oral robot and the use method thereof, a doctor can perform oral examination and operation by means of the oral robot, so that the automation degree and operability of the oral examination and operation can be greatly improved, oral cleaning and self-inspection can be facilitated, the comfort of a patient is improved, the examination and operation accuracy is improved, the operation time and the wound recovery time can be shortened, and the oral robot and the use method thereof have important meanings for improving the medical quality, improving the medical experience and avoiding medical safety accidents.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. An oral robot is characterized in that the oral robot comprises a support component and a robot body,
the support assembly is used for expanding the oral cavity and comprises at least one support arm;
the robot body is connected to the support assembly and comprises an operation arm and an image acquisition device, wherein the operation arm is used for performing medical operation and operation in the oral cavity; the image acquisition device is used for shooting images in the oral cavity.
2. The oral robot of claim 1, wherein: the support assembly further comprises at least one fixture for fixing to a tooth or an inner wall of an oral cavity.
3. The oral robot of claim 1, wherein: the support assembly further includes a track on which the robot body is movable.
4. The oral robot of claim 1, wherein: the oral robot further comprises a mechanical arm, and the image acquisition device is arranged on the mechanical arm and can acquire images at a proper position.
5. The oral robot of claim 1, wherein: the operation arm comprises at least one of a knife, a pair of scissors, a needle, a pair of pliers, a clamp, an electric welding head, an electric cautery head, an electric baking head, an illumination probe, a radioactive probe, an ultrasonic probe, an electromagnetic probe, a flushing device, a cleaning device, a medicine feeding device, a brush head, an ultrasonic cleaning head, a dental floss and a toothpick.
6. The oral robot of claim 1, wherein: the oral robot also comprises a protection device which is used for protecting the tongue and other non-operative parts in the oral cavity from being damaged by the operation arm when the operation arm performs medical operations and operations.
7. An oral robot as claimed in any one of claims 1 to 5, wherein: the oral robot further comprises a processor, and the processor can automatically control the oral robot to perform medical operations and operations according to actual conditions in the oral cavity according to the images in the oral cavity shot by the image acquisition device.
8. An oral robot as recited in claims 1-5, wherein: the oral robot further comprises a communication module for returning the shot images in the oral cavity and/or receiving operation instructions, and the oral robot operates according to the received operation instructions.
9. An oral robot as recited in claims 1-7, wherein: the oral robot transmits the shot images in the oral cavity to an external server, constructs an oral cavity model of the patient, displays the real situation in the oral cavity of the patient, and is used for cleaning and self-checking the oral cavity of the user, or medical staff carries out symptom analysis, gives a diagnosis result, designs/recommends/determines an operation or operation scheme, positions an operation site and assists in executing the operation/operation.
10. A method of using the oral robot of any one of claims 1-9, the method comprising:
s1: the oral robot enters into the oral cavity, and the support component supports in the oral cavity;
s2: the image acquisition device shoots an image in the oral cavity;
s3: the operation arm performs medical operation and operation according to the image in the oral cavity.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2020/130964 WO2022109760A1 (en) | 2020-11-24 | 2020-11-24 | Oral cavity robot and method for use thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112638316A true CN112638316A (en) | 2021-04-09 |
Family
ID=75291098
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202080002924.9A Pending CN112638316A (en) | 2020-11-24 | 2020-11-24 | Oral cavity robot and using method thereof |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN112638316A (en) |
| WO (1) | WO2022109760A1 (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030092964A1 (en) * | 2001-11-12 | 2003-05-15 | Korea Institute Of Science And Technology | Micro capsule type robot |
| CN102499759A (en) * | 2011-10-31 | 2012-06-20 | 上海交通大学 | Multi-degree-of-freedom single-wound-hole robot flexible hand for celiac minimally invasive surgery |
| CN108968911A (en) * | 2017-05-31 | 2018-12-11 | 三纬国际立体列印科技股份有限公司 | Automatic oral cavity scanning machine |
| CN210307847U (en) * | 2019-07-23 | 2020-04-14 | 区力新 | Oral cavity detection robot |
| CN211324878U (en) * | 2019-06-28 | 2020-08-25 | 赫金玲 | Auxiliary examination lighting device for department of stomatology |
| CN211750189U (en) * | 2018-03-30 | 2020-10-27 | 盎锐（上海）信息科技有限公司 | Tooth modeling device based on 3D imaging technology |
-
2020
- 2020-11-24 WO PCT/CN2020/130964 patent/WO2022109760A1/en active Application Filing
- 2020-11-24 CN CN202080002924.9A patent/CN112638316A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030092964A1 (en) * | 2001-11-12 | 2003-05-15 | Korea Institute Of Science And Technology | Micro capsule type robot |
| CN102499759A (en) * | 2011-10-31 | 2012-06-20 | 上海交通大学 | Multi-degree-of-freedom single-wound-hole robot flexible hand for celiac minimally invasive surgery |
| CN108968911A (en) * | 2017-05-31 | 2018-12-11 | 三纬国际立体列印科技股份有限公司 | Automatic oral cavity scanning machine |
| CN211750189U (en) * | 2018-03-30 | 2020-10-27 | 盎锐（上海）信息科技有限公司 | Tooth modeling device based on 3D imaging technology |
| CN211324878U (en) * | 2019-06-28 | 2020-08-25 | 赫金玲 | Auxiliary examination lighting device for department of stomatology |
| CN210307847U (en) * | 2019-07-23 | 2020-04-14 | 区力新 | Oral cavity detection robot |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2022109760A1 (en) | 2022-06-02 |
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