CN113017867A - Tooth treatment device suitable for repairing tooth defects - Google Patents

Abstract

The invention discloses a tooth treatment device suitable for repairing tooth defects, belonging to the technical field of dental treatment equipment and comprising: the treatment manipulator comprises a multi-degree-of-freedom posture adjusting platform, and a treatment tool is arranged on the multi-degree-of-freedom posture adjusting platform; a manipulator oral cavity fixator; the illuminating lamp and the camera are arranged on the multi-degree-of-freedom posture adjusting platform; the control operation platform is provided with a processor, a display and an instruction input device; a therapeutic bed. The tooth treatment device suitable for repairing tooth defects provides conditions for intelligent treatment of tooth defect repair, integrates various treatment tools on a treatment manipulator, and can complete the operations of cavity preparation, cavity disinfection, filling materials, photocuring treatment and polishing treatment. In the treatment process, the treatment manipulator is arranged in the manipulator oral cavity fixer, the soft oral cavity tissues of a patient can be effectively prevented from being damaged in the treatment process, and the safety is high.

Description

Tooth treatment device suitable for repairing tooth defects

Technical Field

The invention relates to a tooth treatment device suitable for repairing tooth defects, and belongs to the technical field of dental treatment equipment.

Background

Cavities are carious cavities and are classified as superficial, intermediate and deep caries. When treating superficial and middle caries, decayed and necrotic tissues in the caries cavity are usually removed by a dental drill, then a certain hole shape is prepared, and then filling is carried out by a filling material so as to achieve the purpose of repairing and treating. At present, dentists generally adopt a manual repairing treatment method, close observation and operation of the dentists on the oral cavity of a patient are needed, in the process, the dentists need to keep postures such as head lowering for a long time, fatigue is easy to generate, the physical strength is large, and the operation quality is influenced; in addition, various liquid splashes are generated in the oral cavity of a patient in the treatment process, so that the patient is uncomfortable and the treatment difficulty is increased.

With the progress of science and technology, various dental handpieces have appeared to replace the manual operation of dentists, so as to achieve the purposes of reducing the workload of dentists and realizing intelligent dental treatment. Install camera and lighting device among the dental handpiece, can send the inside tooth image of patient's oral cavity to the display, and then the doctor can carry out the operation according to the demonstration of this display. Therefore, doctors do not need to observe the oral cavity of a patient closely for a long time and perform surgical operation, physical strength and energy consumed in the surgical operation process of the doctors are greatly reduced, the fatigue of the doctors is relieved, and the surgical quality is relatively improved. However, the existing dental handpiece usually only includes an operation manipulator such as a drill, a doctor can only use the manipulator to perform the operation of the operation through simple control, the application range is narrow, the operation manipulator is completely exposed in the oral cavity of a patient, the dependence on the manual operation is large, the safety is low, and the intelligent control is difficult to achieve. The invention aims to provide a treatment device which integrates a plurality of treatment tools and is convenient to adopt intelligent control on the basis of the prior art so as to improve the efficiency and the accuracy of the tooth defect repairing treatment.

The above description is included in the technical recognition scope of the inventors, and does not necessarily constitute the prior art.

Disclosure of Invention

The invention aims to solve the problems in the prior art, and provides a tooth treatment device suitable for repairing tooth defects, which can improve the efficiency and accuracy of tooth defect repair treatment.

The invention adopts the following technical scheme to realize the purpose:

a dental treatment apparatus adapted for repairing a tooth defect, comprising:

the treatment manipulator comprises a multi-degree-of-freedom posture adjusting platform, and a treatment tool is arranged on the multi-degree-of-freedom posture adjusting platform;

the manipulator oral cavity fixer comprises a fixer body, a cavity for mounting the treatment manipulator is arranged in the fixer body, the fixer body is provided with an upper biting surface and a lower biting surface which are oppositely arranged, and an operation port for extending the treatment tool is formed in the upper biting surface or the lower biting surface;

the illuminating lamp and the camera are arranged on the multi-degree-of-freedom posture adjusting platform;

the treatment manipulator comprises a control console, wherein a processor, a display and an instruction input device are arranged on the control console, the instruction input device is used for a doctor to input control parameters related to the treatment manipulator, the processor is used for receiving and processing input signals from the treatment manipulator and the instruction input device and outputting processing results to the treatment manipulator, a lighting lamp and a camera, and the display is used for displaying the input signals and the processing results;

the treatment bed is provided with holes for exposing the face of a patient when the patient lies prone.

Optionally, the top and the bottom of the fixator body are provided with two flanges, and the flanges are used for abutting against two sides of the teeth.

Optionally, the multi-degree-of-freedom posture adjustment platform is a six-degree-of-freedom Stewart platform, the six-degree-of-freedom Stewart platform comprises a fixed platform, a movable platform and six telescopic branched chains for connecting the fixed platform and the movable platform, the six telescopic branched chains are divided into three groups which are centrosymmetric, two ends of each group of two telescopic branched chains are respectively hinged with the fixed platform and the movable platform, and the two telescopic branched chains of each group share a hinged shaft with the movable platform; the telescopic branched chain adopts a motor-driven ball screw driving mode or a hydraulic and electric hybrid actuator driving mode, and the treatment tool is installed on the movable platform.

Optionally, the treatment tool comprises a drilling grinding head, a water spray head, a disinfectant spray head, a filling material injection head and a light-curing irradiation lamp.

Specifically, the drilling and grinding head is used for drilling and expanding a cavity required for repairing teeth and thoroughly cleaning an infected group with pathological changes in the cavity, and also can be used for polishing treatment after the teeth are repaired, so that the filling material is prevented from being colored, and residues in the oral cavity are cleaned; the disinfectant spraying head is used for smearing disinfectant liquid, generally after the cavity preparation is finished, and the disinfection time and times are different according to different degrees of tooth lesions; the water spray head is used for spraying water to wash residues and disinfectant; the filling material injection head is used for injecting the tooth filling material, and the filling material is not required to exceed the height of the occlusal surface when being injected into the cleaned cavity; the light-cured irradiation lamp is used for filling, solidifying and shaping the artificial material.

Optionally, the filling material injection head is arranged in the middle of the multi-degree-of-freedom posture adjusting platform, the drilling grinding head is sleeved outside the filling material injection head, and the illuminating lamp, the camera, the water spraying head, the disinfectant spraying head and the light curing irradiation lamp are distributed around the periphery of the drilling grinding head. Usually, the camera sets up two, and two cameras symmetric distribution are in the periphery of drilling grinding head.

Optionally, a through hole is formed in the middle of the fixed platform, the movable platform is set to be a tapered structure with a large top and a small bottom, and a plurality of inner cavities are formed in the movable platform and used for storing filling materials and disinfectants.

Optionally, each inner cavity is provided with an air inlet, the air inlet is communicated with an external compressed air source through an air duct, the air inlet is positioned at the top of the inner cavity, and a delivery pipe of the filling material and the disinfectant extends into the bottom of the inner cavity; the sprinkler head is communicated with an external water source through a water pipe; the treatment manipulator is also connected with the processor through a cable, and the cable comprises a signal line and a power line.

Optionally, the tooth treatment device suitable for repairing a tooth defect further comprises 3D observation glasses arranged on the control console and a display arranged below the hole of the treatment couch in an inclined manner, wherein the 3D observation glasses and the display are used for displaying input signals and processing results.

The display magnifies the image of the camera by 1-20 times.

Optionally, the instruction input device includes a touch screen or an input keyboard, the touch screen or the input keyboard is used for a doctor to input control parameters related to the therapeutic manipulator, and the control parameters include a motion attitude of the multi-degree-of-freedom attitude adjusting platform, a rotation speed of the drilling and grinding head, an opening and closing instruction of the disinfectant valve, an opening and closing instruction of the water inlet valve, an opening and closing instruction of the filling material valve, and an opening and closing instruction of the photocuring irradiation lamp.

Optionally, a pressure sensor is arranged on the treatment manipulator, and the pressure sensor is used for detecting the working pressure of the drilling and grinding head and transmitting the working pressure to the processor; generally, the pressure sensor is arranged between the multi-degree-of-freedom posture adjusting platform and the drilling and grinding head, and can detect the working pressure of the drilling and grinding head.

The instruction input equipment further comprises an operating handle, and the operating handle is used for controlling the motion posture of the multi-degree-of-freedom posture adjusting platform.

Optionally, the treatment manipulator is connected with the processor through a cable, and the cable comprises a signal line and a power line.

Optionally, the tooth treatment device suitable for repairing the tooth defect further comprises an emergency stop button, wherein the emergency stop button is arranged on the control operation table and at the side of the hand of the patient and used for stopping the treatment manipulator (including the multi-degree-of-freedom posture adjusting platform and the treatment tool) in time when an accident or a special condition occurs, so that the oral cavity of the patient is prevented from being injured.

Optionally, the treatment couch comprises:

the bed body is provided with a head fixer 640;

the bed body is arranged on the base, and the base is used for adjusting the height and the pitching angle of the bed body.

Optionally, the dental treatment device adapted to repair a tooth defect further comprises a sump disposed below the aperture.

Optionally, be applicable to the defective tooth treatment device of repair tooth, still include the receiver, the receiver is used for taking in treatment manipulator and sets up light, camera etc. on treatment manipulator.

The dental treatment device suitable for repairing a tooth defect is operated by the following steps:

(1) adjusting the height and angle of the treatment couch to make the face of the patient aim at the hole on the treatment couch and fix the head of the patient through the head fixer 640, wherein the patient fixes the manipulator oral cavity fixer with the built-in treatment manipulator on the affected part in an occluded manner;

(2) the illuminating lamp and the camera work, according to the image obtained by the camera displayed on the display, a doctor draws in an instruction input device or calculates through a processor to obtain the outline shape of a cavity, the spraying time of a disinfectant, the spraying time of water, the injection time of a filling material, the photocuring time and the polishing processing time and transmits the processing time to execution terminals such as a telescopic branched chain, a disinfectant valve, a water inlet valve, a filling material valve, a photocuring irradiation lamp and the like;

(3) preparing a cavity, disinfecting the cavity, filling materials, carrying out photocuring treatment and polishing treatment: the drilling and grinding head stretches out of an operation opening on the manipulator oral cavity fixer through the action of each telescopic branched chain and then cuts out a corresponding cavity outline shape; the disinfectant valve, the water inlet valve, the filling material valve and the light curing irradiation lamp are opened and closed for corresponding time; the drilling and grinding head acts again to polish and grind the repaired part of the tooth; the emergency stop buttons are respectively arranged at the hand of the patient and on the control operation table, and the emergency stop button can be directly pressed to pause the treatment process if the patient feels any discomfort or a doctor finds any unexpected special condition in the treatment process.

Benefits of the present application include, but are not limited to:

the invention provides a tooth treatment device suitable for repairing tooth defects, which provides conditions for intelligent treatment of tooth defect repair, integrates a plurality of treatment tools on a treatment manipulator, can be used for complete tooth defect repair work such as caries removal, hole preparation, disinfection, repair, photocuring, grinding and the like, and doctors can draw the outline shape of a hole, the spraying time of a disinfectant, the spraying time of water, the injection time of a filling material, the photocuring time and the polishing treatment time on instruction input equipment or calculate the outline shape of the hole, the spraying time of the disinfectant, the injection time of the filling material, the photocuring time and the polishing treatment time through a processor according to images transmitted to a display by a camera and transmit the outline shape, the spraying time of the disinfectant, the injection time of the filling material, the photocuring treatment time and the polishing treatment time to execution terminals such as a multi-freedom posture adjusting platform, a disinfectant spraying. In the treatment process, the treatment manipulator is arranged in the manipulator oral cavity fixer, the soft oral cavity tissues of a patient can be effectively prevented from being damaged in the treatment process, and the safety is high.

During treatment, a doctor sits in front of the control operation table and does not directly contact with a patient, a three-dimensional treatment visual field can be obtained through the 3D observation glasses, and the manipulator is controlled to finish dental repair treatment, so that the doctor and the patient can perform treatment or receive treatment in a comfortable posture, the fatigue is reduced, and the treatment precision is improved. The patient lies prostrate and treats on the treatment couch, can reduce the risk that the patient chocks water, weighs down the needle, alleviates patient's nervous mood, and the patient can be through the real-time observation treatment condition of display to still be equipped with the scram button by hand, can let the patient feel untimely, rapidly safely suspend the treatment in time. The pressure sensor arranged on the treatment manipulator transmits the pressure sensor to the operating handle, so that a doctor can master the strength and range in the tooth repairing treatment, and the accurate treatment is realized.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

FIG. 1 is a schematic view of a dental treatment apparatus suitable for repairing a tooth defect according to the present invention;

FIG. 2 is a schematic structural view of a control console of a dental treatment apparatus for repairing a tooth defect according to the present invention;

FIG. 3 is a schematic view of a treatment couch adapted for use in a dental treatment apparatus for repairing a tooth defect according to the present invention;

FIG. 4 is a schematic view of a patient monitor, a receiving case, etc. of a dental treatment apparatus for repairing a tooth defect according to the present invention;

FIG. 5 is a schematic structural view of a treatment robot disposed in a robot oral cavity fixture in a dental treatment device for repairing a tooth defect according to the present invention;

FIG. 6 is a schematic view of a treatment robot in a dental treatment apparatus for repairing a tooth defect according to the present invention;

FIG. 7 is a schematic view of a dental treatment apparatus suitable for repairing a tooth defect according to the present invention in operation;

FIG. 8 is a schematic structural view of a treatment manipulator in a tooth treatment device suitable for repairing a tooth defect according to the present invention (the movable platform has a tapered structure);

FIG. 9 is a schematic structural view of an inner cavity in a movable platform;

in the figure, 100, a treatment robot; 110. a multi-degree-of-freedom posture adjusting platform; 111. fixing a platform; 1110. a through hole; 112. a movable platform; 1121. an inner cavity; 1122. an air inlet; 113. a telescopic branched chain; 121. drilling and grinding the head; 122. a sprinkler head; 123. a disinfectant spray head; 124. a filling material injection head; 125. a photocuring irradiation lamp; 210. a holder body; 220. an operation port; 230. blocking edges; 300. an illuminating lamp; 400. a camera; 500. controlling the operation table; 510. a display; 520. 3D viewing glasses; 531. an input keyboard; 532. an operating handle; 600. a treatment couch; 610. a hole; 620. a bed body; 630. a base; 640. a head holder; 700. a pressure sensor; 910. an emergency stop button; 920. an accommodating box.

Detailed Description

In order to clearly explain the technical features of the present invention, the following detailed description of the present invention is provided with reference to the accompanying drawings.

It should be noted that in the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those described herein. Therefore, the scope of the invention is not limited by the specific embodiments disclosed below.

As shown in fig. 1 and 2, the dental treatment apparatus suitable for repairing a tooth defect according to the present invention includes a treatment robot 100, a robot oral cavity fixture, an illumination lamp 300 and a camera 400, a control console 500, and a treatment couch 600.

Specifically, as shown in fig. 6, the treatment manipulator 100 includes a multiple degree of freedom posture adjustment platform 110, and a treatment tool is mounted on the multiple degree of freedom posture adjustment platform 110.

As shown in fig. 5, the oral cavity fixator of the manipulator comprises a fixator body 210, a cavity for installing the treatment manipulator 100 is arranged in the fixator body 210, the fixator body 210 has an upper biting surface and a lower biting surface which are oppositely arranged, and an operation port 220 for extending a treatment tool is arranged on the upper biting surface or the lower biting surface;

the illuminating lamp 300 and the camera 400 are installed on the multi-degree-of-freedom posture adjusting platform 110, the illuminating lamp 300 provides a light source for treatment operation in the oral cavity of a patient, and the camera 400 is guaranteed to obtain bright and clear treatment images.

The control console 500 is provided with a processor, a display 510 and an instruction input device, the instruction input device is used for a doctor to input control parameters related to the treatment manipulator 100, the processor is used for receiving and processing input signals from the treatment manipulator 100 and the instruction input device and outputting processing results to the treatment manipulator 100, the illuminating lamp 300 and the camera 400, and the display 510 is used for displaying the input signals and the processing results;

as shown in FIG. 3, the treatment couch 600 is provided with a hole 610 for exposing the face of the patient when the patient is lying on his/her stomach.

As shown in fig. 5, the oral cavity fixator of the manipulator is made of soft materials such as rubber, and the patient can find the patient and directly bite the upper side and the lower side of the oral cavity fixator of the manipulator, so that the treatment manipulator 100 can be fixed, and the oral cavity soft tissue of the patient can be effectively prevented from being damaged in the treatment process. In one embodiment, the top and bottom of the fixture body 210 are provided with two ribs 230, and the ribs 230 are used for blocking against two sides of the teeth, so as to prevent the oral cavity fixture of the manipulator from falling out.

In a preferred embodiment, the multi-degree-of-freedom posture adjusting platform 110 is a six-degree-of-freedom Stewart platform which is a six-degree-of-freedom parallel mechanism with six UPS moving branched chains, the six-degree-of-freedom Stewart platform comprises a fixed platform, a moving platform and six telescopic branched chains 113 connecting the fixed platform and the moving platform, the six telescopic branched chains are divided into three groups which are centrosymmetric, two ends of each group of two telescopic branched chains 113 are respectively hinged with the fixed platform 111 and the moving platform 112, and the two telescopic branched chains 113 of each group share a hinged shaft with the moving platform 112; the telescopic branched chain adopts a motor-driven ball screw driving mode or a hydraulic and electric hybrid actuator driving mode, and the treatment tool is arranged on the movable platform 112.

Further, the treatment tools may be selected according to specific needs, as shown in FIG. 6, and generally include a borehole abrading head 121, a water spray head 122, a disinfectant spray head 123, a filler material injection head 124, and a light-curing lamp 125.

Specifically, the drilling and grinding head 121 is used for drilling out a cavity required for repairing teeth and thoroughly cleaning an infected group with lesion in the cavity, and also can be used for polishing treatment after tooth repair, so as to prevent the filling material from coloring and simultaneously clean residues in the oral cavity; the disinfectant spraying head 123 is used for smearing disinfectant liquid, generally after the cavity preparation is completed, and the disinfection time and times are different according to different degrees of tooth lesions; the water spray head 122 is used for spraying water to wash residues and disinfectant; the filling material injection head 124 is used to inject the dental filling material, taking care that the filling material is injected into the cleaned cavity not to exceed the occlusal level; the light curing lamps 125 are used to set and shape the artificial material.

Furthermore, the filling material injection head 124 is arranged in the middle of the multi-degree-of-freedom posture adjusting platform 110, the drilling grinding head 121 is sleeved outside the filling material injection head 124, and the illuminating lamp 300, the camera 400, the water spray head 122, the disinfectant spray head 123 and the light curing irradiation lamp 125 are distributed around the periphery of the drilling grinding head 121.

Usually, two cameras 400 are provided, and the two cameras 400 are symmetrically distributed on the periphery of the drilling grinding head 121.

Further, the illuminating lamp 300 and the light curing illuminating lamp 125 are both annular lamp tubes, which can be sleeved on the periphery of the drilling and grinding head 121 to sufficiently illuminate the treatment area.

As shown in fig. 8, in a preferred embodiment, a through hole 1110 is formed in the middle of the fixed platform 111, the movable platform 112 is configured as a tapered structure with a large top and a small bottom, and a plurality of inner cavities 1121 are formed in the movable platform 112 and are used for storing filling materials and disinfectants. The movable platform 112 with a conical structure is matched with the through hole 1110, so that the space of the inner cavity 1121 can be increased, and the movement of the movable platform 112 is not interfered.

Further, as shown in fig. 9, each inner cavity 1121 is provided with an air inlet 1122, the air inlet 1122 is communicated with an external compressed air source through an air duct, the air inlet 1122 is located at the top of the inner cavity 1121, and a delivery pipe for filling material and disinfectant extends into the bottom of the inner cavity 1121, so that the liquid in the inner cavity 1121 can be sprayed and used through the compressed air in a limited space. The sprinkler head 122 is communicated with an external water source through a water pipe; the treatment manipulator is also connected with the processor through a cable, and the cable comprises a signal line and a power line. The air duct, water pipe and cable are passed out from the through hole 1110.

Further, the dental treatment apparatus for repairing a tooth defect according to the present invention further includes 3D observation glasses 520 disposed on the console 500 and a display 510 disposed at an oblique lower portion of the hole 610 of the treatment couch 600, wherein the 3D observation glasses 520 and the display 510 are used for displaying an input signal and a processing result. The patient can see the treatment picture on the display 510 from the hole 610 of the treatment couch 600, and the psychological burden of the patient is reduced.

Preferably, the display 510 is capable of magnifying the image of the camera 400, for example by 1-20 times.

In one embodiment, the instruction input device includes a touch screen or an input keyboard 531, the touch screen or the input keyboard 531 is used for a doctor to input control parameters related to the therapeutic manipulator 100, and the control parameters include a motion posture of the multi-degree-of-freedom posture adjusting platform 110, a rotation speed of the drilling and grinding head 121, an opening and closing instruction of a disinfectant valve, an opening and closing instruction of a water inlet valve, an opening and closing instruction of a filling material valve, and an opening and closing instruction of the photocuring irradiation lamp 125.

In another embodiment, a pressure sensor 700 is disposed on the treatment manipulator 100, and the pressure sensor 700 is used for detecting the working pressure of the drilling grinding head 121 and transmitting the working pressure to the processor; in general, the pressure sensor 700 is installed between the multi-degree-of-freedom attitude adjustment platform 110 and the drill grinding head 121, and is capable of detecting the working pressure of the drill grinding head 121.

The instruction input device further comprises an operating handle 532, and the operating handle 532 is used for controlling the motion posture of the multi-degree-of-freedom posture adjusting platform.

In another embodiment, the treatment robot 100 is connected to the processor by a cable that includes a signal line and a power line.

In another embodiment, the tooth treatment device suitable for repairing a tooth defect further comprises an emergency stop button 910, wherein the emergency stop button 910 is disposed at the control console 500 and at the hand of the patient, and is used for stopping the treatment manipulator 100 (including the multi-degree-of-freedom posture adjustment platform 110 and the action of the treatment tool) in time when an accident or a special condition occurs, so as to prevent the oral cavity of the patient from being injured.

As shown in fig. 3, in one embodiment, the therapeutic bed 600 includes a bed 620 and a base 630, and in particular, a head holder 640 is disposed on the bed 620; the bed 620 is mounted on a base 630, and the base 630 is used for adjusting the height and the pitch angle of the bed 620.

In another embodiment, the head restraint 640 is an arcuate plate that may be placed over the head of a patient. The bed 620 is supported by the base 630 through a plurality of hydraulic cylinders, and the height and the pitch angle of the bed 620 are adjusted through the cooperation of the hydraulic cylinders, so that the oral cavity of the patient faces to the direction suitable for treatment.

Further, the present invention provides a dental treatment device adapted to repair a tooth defect, further comprising a sump 930 disposed below the hole 610.

Further, as shown in fig. 4, the dental treatment apparatus for repairing a tooth defect according to the present invention further includes a storage case 920, and the storage case 920 is used for storing the treatment robot 100, the illumination lamp 300 and the camera 400 provided on the treatment robot 100, and the like.

The working process of the tooth treatment device suitable for repairing the tooth defect comprises the following steps:

(1) adjusting the height and angle of the treatment couch 600, allowing the patient to lie on the treatment couch 600 with the patient's face aligned with the hole 610 on the treatment couch 600 and fixing the patient's head via the head holder 640, as shown in fig. 7, the patient fixes the manipulator oral cavity holder with the therapeutic manipulator 100 inside to the affected part by occlusion;

(2) the illuminating lamp 300 and the camera 400 work, a treating doctor sits on the control operation table 500 far away from a patient to control the treating manipulator 100, and the condition in the oral cavity is observed in real time through the 3D observation glasses 520; the doctor obtains the contour shape of the cavity, the spraying time of the disinfectant, the spraying time of water, the injection time of the filling material, the light curing time and the polishing processing time by instruction input equipment or calculation through a processor according to the image obtained by the camera 400 displayed on the display 510, and transmits the contour shape of the cavity, the spraying time of the disinfectant, the spraying time of the water, the injection time of the filling material, the light curing time and the polishing processing time to execution terminals such as a telescopic branched chain, a disinfectant valve, a water inlet valve, a filling material valve;

(3) preparing a cavity, disinfecting the cavity, filling materials, carrying out photocuring treatment and polishing treatment: a doctor sits in front of the control operation table 500, controls the action of the multi-degree-of-freedom posture adjusting platform 110 through the operation handle 532, so that the drilling and grinding head 121 extends out of the operation port 220 on the manipulator oral cavity fixator through the action of each telescopic branched chain and then cuts out a corresponding cavity outline shape, and the disinfectant valve, the water inlet valve, the filling material valve and the light curing irradiation lamp 125 are opened and closed for corresponding time;

specifically, in the process of preparing the pits, the water spraying head 122 sprays water to wash the ground residues, the disinfectant spraying head 123 sprays the disinfectant to disinfect the pits after washing is finished, and the water spraying head 122 washes the disinfectant to finish a pit disinfection operation after waiting for a proper time; after the cavity is sterilized, operating the filling material injection head 124 to inject a proper amount of filling material into the cavity; after the filling material is injected, the light-curing irradiation lamp 125 lights up the curing filling material to harden and shape the filling material; after the filling material is hardened and shaped, the drilling and grinding head 121 is operated to approach the filled tooth repairing part for grinding and polishing, and the water spray head 122 sprays water to wash away residues.

In the process, the patient can spit sewage in the mouth into the sewage tank 930 facing the mouth of the patient at any time; furthermore, the patient may directly press the emergency stop button 910 to pause the treatment process if they feel any discomfort or the doctor finds any unexpected special condition during the treatment process. After the treatment is finished, the patient can further propose whether further treatment is needed according to own needs.

In the treatment process, the doctor can keep a comfortable body position to sit in front of a console far away from a patient for operation, so that the fatigue of the doctor is relieved, and the quality and efficiency of tooth repairing treatment are improved. Secondly, the patient lies prostrate on the treatment couch 600, the risk of water choking and needle falling of the patient can be reduced, the nervous mood of the patient can be relieved, the patient can observe the treatment condition in real time through the display 510, and the emergency stop button 910 is arranged beside the patient, so that the patient can stop the treatment rapidly and safely when feeling untimely, and the humanized design is highlighted; the image acquired by the camera 400 is displayed on the display 510, so that the doctor can clearly see the three-dimensional image in the mouth of the patient, and the pressure sensor 700 arranged on the treatment manipulator 100 transmits the image to the operating handle 532, so that the doctor can grasp the strength and range in the tooth repairing treatment, and the accurate treatment is realized; fourthly, the treatment manipulator 100 integrates a plurality of treatment tools and can be used for complete tooth defect repair work such as caries removal, hole preparation, disinfection, repair, photocuring, polishing and the like.

In the description of the present invention, it is to be understood that the terms "central," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," "circumferential," and the like are used in the indicated orientations and positional relationships based on the drawings for ease of description and simplicity of description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; the connection can be mechanical connection, electrical connection or communication; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The above-described embodiments should not be construed as limiting the scope of the invention, and any alternative modifications or alterations to the embodiments of the present invention will be apparent to those skilled in the art.

The present invention is not described in detail, but is known to those skilled in the art.

Claims (10)

1. A dental treatment apparatus adapted for repairing a tooth defect, comprising:

the treatment manipulator comprises a multi-degree-of-freedom posture adjusting platform, and a treatment tool is arranged on the multi-degree-of-freedom posture adjusting platform;

the manipulator oral cavity fixer comprises a fixer body, a cavity for mounting the treatment manipulator is arranged in the fixer body, the fixer body is provided with an upper biting surface and a lower biting surface which are oppositely arranged, and an operation port for extending the treatment tool is formed in the upper biting surface or the lower biting surface;

the illuminating lamp and the camera are arranged on the multi-degree-of-freedom posture adjusting platform;

the treatment manipulator comprises a control console, wherein a processor, a display and an instruction input device are arranged on the control console, the instruction input device is used for a doctor to input control parameters related to the treatment manipulator, the processor is used for receiving and processing input signals from the treatment manipulator and the instruction input device and outputting processing results to the treatment manipulator, a lighting lamp and a camera, and the display is used for displaying the input signals and the processing results;

the treatment bed is provided with holes for exposing the face of a patient when the patient lies prone.

2. A dental treatment device according to claim 1, adapted for repairing a tooth defect, wherein the top and bottom of the fixture body are provided with two ribs for abutting against both sides of the tooth.

3. A dental treatment device suitable for repairing a tooth defect according to claim 1, wherein the multi-degree-of-freedom posture adjustment platform is a six-degree-of-freedom Stewart platform, the six-degree-of-freedom Stewart platform comprises a fixed platform, a movable platform and six telescopic branches connecting the fixed platform and the movable platform, the telescopic branches are driven by a motor-driven ball screw or a hydraulic-electric hybrid actuator, and the treatment tool is mounted on the movable platform.

4. A dental treatment device according to claim 1, adapted for repairing a tooth defect, wherein said treatment means comprises a bore grinding head, a water spray head, a disinfectant spray head, a filling material injection head and a light-curing radiation lamp.

5. A dental treatment device as claimed in claim 4, wherein the filling material injection head is disposed at the middle of the multi-degree of freedom posture adjustment platform, the drilling grinding head is sleeved outside the filling material injection head, and the illuminating lamp, the camera, the water spraying head, the disinfectant spraying head and the light-curing irradiation lamp are circumferentially disposed at the periphery of the drilling grinding head.

6. A dental treatment device according to claim 3, wherein the fixed platform has a through hole in the middle, the movable platform is configured as a cone structure with a large top and a small bottom, and a plurality of inner cavities are provided in the movable platform, and the inner cavities are used for storing filling material and disinfectant respectively.

7. A dental treatment device according to claim 6, adapted for repairing a tooth defect, wherein each cavity is provided with an air inlet opening which is in communication with an external source of compressed air via an air duct, said air inlet opening being located at the top of the cavity and a delivery tube for filling material and disinfectant extending into the bottom of the cavity; the sprinkler head is communicated with an external water source through a water pipe;

the treatment manipulator is also connected with the processor through a cable, and the cable comprises a signal line and a power line.

8. The dental treatment apparatus for repairing a tooth defect according to claim 1, further comprising 3D observation glasses provided on the control console and a display provided obliquely below the hole of the treatment couch, wherein the 3D observation glasses and the display are used for displaying the input signal and the processing result.

9. A dental treatment apparatus as claimed in claim 1, wherein the command input device comprises a touch screen or an input keyboard, the touch screen or the input keyboard is used for a doctor to input control parameters related to the treatment manipulator, the control parameters comprise a movement posture of the multi-degree-of-freedom posture adjusting platform, a rotation speed of the drilling and grinding head, an on/off command of the disinfectant valve, an on/off command of the water inlet valve, an on/off command of the filling material valve, and an on/off command of the light-curing radiation lamp.

10. A dental treatment device according to claim 1, wherein a pressure sensor is provided on the treatment robot for detecting the working pressure of the drill grinding head and transmitting it to the processor;

the instruction input equipment further comprises an operating handle, and the operating handle is used for controlling the motion posture of the multi-degree-of-freedom posture adjusting platform.

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