CN113599009A

CN113599009A - Oral surgery auxiliary device and oral surgery robot

Info

Publication number: CN113599009A
Application number: CN202110996649.3A
Authority: CN
Inventors: 田庆; 聂智; 谢永召; 宋志伟
Original assignee: Beijing Ruiyibo Technology Co ltd
Current assignee: Beijing Ruiyibo Technology Co ltd
Priority date: 2021-08-27
Filing date: 2021-08-27
Publication date: 2021-11-05

Abstract

The application provides oral surgery auxiliary device and oral surgery robot, wherein oral surgery auxiliary device includes: the device comprises a control system, a first driving device, a second driving device, a drill point shell and a transmission structure; the control system is respectively electrically connected with the first driving device and the second driving device, and a sliding structure on the first driving device is fixedly connected with the drill point shell through a connecting piece; the drill point is detachably inserted in the drill point shell; the second driving device is arranged on the connecting piece and/or the sliding structure and drives the drill point in the drill point shell to rotate through the transmission structure. The application provides an oral operation auxiliary device simple structure, convenient to use, the effectual equipment cost that has reduced easily trade is used widely.

Description

Oral surgery auxiliary device and oral surgery robot

Technical Field

The embodiment of the application relates to the technical field of high-end equipment medical instruments, in particular to an oral surgery auxiliary device and an oral surgery robot.

Background

The service demand that current society carries out operation treatment to the oral cavity (such as kind tooth, filling tooth) is more and more, oral cavity operation robot who uses in the oral cavity treatment trade at present passes through setting up the control unit issue and controls the instruction to drive the arm removal of control, and drive the surgical equipment who connects at the arm end through the arm and arrive corresponding operation position like planting the cell-phone, this surgical equipment is controlled to the rethread, the surgical instrument of control connection (such as the drill point) carries out corresponding oral cavity operation on planting the cell-phone, just can guarantee the treatment of oral cavity operation, this kind of traditional oral cavity operation robot structure is complicated, professional technical requirement is high to the operator, it is inconvenient to use, and is with high costs, be not convenient for using widely, and it is difficult to maintain.

Disclosure of Invention

In view of this, one of the technical problems to be solved by the present application is to provide an oral surgery assisting device and an oral surgery robot, which have simple structures, are convenient to use and easy to maintain, can greatly reduce the manufacturing cost of the device, and are easy to popularize and use.

In a first aspect, the present application provides an oral surgery assistance device comprising: oral surgery auxiliary device: the device comprises a control system, a first driving device, a second driving device, a drill point shell and a transmission structure;

the control system is respectively and electrically connected with the first driving device and the second driving device, a sliding structure on the first driving device is fixedly connected with the drill point shell through a connecting piece, and the drill point is detachably inserted in the drill point shell;

the second driving device is arranged on the connecting piece and/or the sliding structure, and the second driving device drives the drill point in the drill point shell to rotate through the transmission structure.

Optionally, in an embodiment of the present application, a moving track of the drill point when driven by the second driving device is parallel to a moving track of the sliding structure.

Optionally, in an embodiment of the present application, the connector is connected perpendicular to the drill pin housing.

Optionally, in an embodiment of the present application, the connecting member is a straight rod or an arc rod.

Optionally, in an embodiment of the present application, the second driving means is detachably mounted on the connecting member by a fixing rod.

Optionally, in an embodiment of the present application, the transmission structure comprises a transmission shaft and a gear set;

and a driving shaft of the second driving device is connected with the transmission shaft, the transmission shaft is connected with the gear set, and the gear set is connected with the drill point.

Optionally, in an embodiment of the present application, a locking switch for detaching and installing the drill point is disposed at the top of the drill point housing.

Optionally, in an embodiment of the present application, the first driving device includes a first driving motor and a lead screw;

the sliding structure is installed on the screw rod, the screw rod is connected with the first driving motor, and the first driving motor drives the screw rod to rotate.

Optionally, in an embodiment of the present application, the first driving device further includes a base, and the sliding structure is disposed on the base.

Optionally, in an embodiment of the present application, the sliding structure further includes: the sliding block, the linear guide rail and the supporting seat;

the slider with the connecting piece is connected, the supporting seat is fixed to be set up on the base, linear guide with supporting seat fixed connection, linear guide runs through the slider, be equipped with the screw thread in the slider, the lead screw is twisted into in the screw thread, through a driving motor drive the lead screw rotates to drive the slider removal.

Optionally, in an embodiment of the present application, the support base comprises a front support base and a rear support base, wherein:

the front supporting seat is fixedly arranged on the base and close to the first driving motor;

the rear supporting seat is fixedly arranged on the base at a position far away from the first driving motor;

the linear guide rail is installed between the front supporting seat and the rear supporting seat and is perpendicular to the front supporting seat and the rear supporting seat.

In a second aspect, an embodiment of the present application further provides an oral surgery robot, including any one of the oral surgery auxiliary devices described in the first aspect of the present application, further including: a mechanical arm;

the first driving device is fixedly arranged at the tail end of the mechanical arm, and the mechanical arm is electrically connected with the control system.

Optionally, in an embodiment of the present application, the oral surgical robot further comprises: a manipulation component;

the control assembly is electrically connected with the control system and is used for generating control instructions for the mechanical arm and/or the oral surgery auxiliary device.

Optionally, in an embodiment of the present application, the oral surgical robot further comprises a box;

the control system is arranged in the box body;

the front end of the mechanical arm is fixedly connected with the top of the box body;

the control assembly is detachably mounted on the side wall of the box body.

In the technical scheme that this application provided, oral surgery auxiliary device includes: the device comprises a control system, a first driving device, a second driving device, a drill point shell and a transmission structure; the control system is respectively electrically connected with the first driving device and the second driving device, and a sliding structure on the first driving device is fixedly connected with the drill point shell through a connecting piece; the drill point is inserted into the drill point shell; the second driving device drives the drill point in the drill point shell to rotate through the transmission structure, and the second driving device is installed on the connecting piece and/or the sliding structure. The utility model provides an oral cavity operation auxiliary device, sliding structure through on the first drive arrangement of control system control drives the drill point of cartridge in the drill point casing towards accurate oral cavity operation target position, when the during operation of control system control second drive arrangement, second drive arrangement passes through the rotation of transmission structure drive drill point, with the operations such as drilling are accomplished to the oral cavity operation target position at the patient, moreover, the steam generator is simple in structure, high durability and convenient use, greatly reduced the cost of equipment, easily trade is used widely.

Drawings

FIG. 1 is a schematic mechanical diagram of an auxiliary device for oral surgery according to an embodiment of the present application;

FIG. 2 is a side view of a first drive arrangement provided in accordance with an embodiment of the present application;

fig. 3 is a schematic structural diagram of another first driving device according to an embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of an oral surgery robot according to an embodiment of the present application.

Detailed Description

The following further describes specific implementation of the embodiments of the present invention with reference to the drawings.

The application provides an oral surgery robot, as shown in fig. 1, fig. 1 is a schematic structural diagram of an oral surgery auxiliary device provided by the embodiment of the application, and the oral surgery auxiliary device provided by the application comprises: a control system 101, a first drive 102, a second drive 103, a drill bit housing 104, and a transmission 106;

the control system 101 is respectively electrically connected with the first driving device 102 and the second driving device 103, the sliding structure 1021 on the first driving device 102 is fixedly connected with the drill point shell 104 through the connecting piece 107, and the drill point 105 is detachably inserted into the drill point shell 104;

the second drive 103 is mounted on a connecting piece 107, and the second drive 103 drives a drill bit 105 inserted in the drill bit housing 104 in rotation via a transmission 106.

Alternatively, in another embodiment, the second driving device (103) may be mounted on the sliding structure 1021. Alternatively, in yet another embodiment, the second driving device (103) may be mounted on the connecting member 107 and the sliding structure 1021.

In one implementation manner of the present embodiment, the control system 101 is, for example, a control host, and is connected to the first driving device 102 and the second driving device 103 respectively to control the operating states of the first driving device 102 and the second driving device 103. Specifically, the sliding structure 1021 on the first driving device 102 is fixed with the drill housing 104 through the connecting member 107, so that the control system 101 controls the first driving device 102 to work, and further controls the sliding structure 1021 to move, and at the same time, the sliding structure 1021 drives the drill housing 104 to move in the same way through the connecting member 107, so as to drive the drill 105 inserted into the drill housing 104 to move to a position facing a surgical target point for performing a surgery.

In the implementation scenario of the embodiment, since the second driving device 103 is installed on the connecting element 107, so that the position of the second driving device 103 and the position of the drill housing 104 are relatively fixed, when the sliding structure 1021 on the first driving device 102 is controlled by the control system 101 to slide, the second driving device 103 follows the sliding structure 1021 to perform the same displacement, so that after the drill 105 inserted into the drill housing 104 moves to the position facing the surgical target point, the control system 101 controls the second driving device 103 to operate, and the second driving device 103 can more stably drive the drill 105 to rotate at the position of the surgical target point through the transmission structure 106, so as to perform the surgical operation, such as drilling.

Optionally, in an implementation manner of the present embodiment, a moving track of the drill point 105 when driven by the second driving device 103 is parallel to a moving track of the sliding structure 1021. For example, in this embodiment, in order to ensure the control precision of the drill point 105, in an ideal working state, when the control system 101 controls the sliding structure 1021 to move, if the distance and the direction that the drill point housing 104 drives the drill point 105 to move on the effective path for performing the operation are the same as the distance and the direction that the sliding structure 1021 moves, the control system 101 can control the sliding structure 1021 on the first driving device 102 to slide, and further, the drill point 105 can be precisely controlled. In this embodiment, in order to ensure such precise control, the drill point 105 is set to have a moving track parallel to the moving track of the sliding structure 1021 when driven by the second driving device 103, that is, the drill head of the drill point 105 faces parallel to the sliding track of the sliding structure 1021 on the first driving device 102, so that the precise control under the ideal condition can be realized with high quality.

Optionally, in one implementation of the present embodiment, the drill housing 104 is cylindrical, the drill bit 105 is mounted at the center of the drill housing 104, and the drill head orientation of the drill bit 105 is parallel to the opening orientation of the drill housing 104 aligned with the target surgical site. In the above implementation manner of the present embodiment, the drill housing 104 is designed to be a cylindrical structure to reduce the corner angle on the outer surface of the drill housing 104, so as to reduce the accidental injury caused when the oral surgery assisting device is in contact with the human tissue during operation. By installing the drill point 105 in the center of the drill point housing 104 and parallel to the opening direction of the drill point housing 104, the drill point 105 can be moved by moving the drill point housing 104 to be attached to the position of the target site of the oral surgery.

Optionally, in one implementation of the present embodiment, the connection 107 is vertically connected to the drill bit housing 104.

In an implementation scenario of this embodiment, since the drill 105 is inserted into the drill housing 104, when the drill 105 is controlled to work to perform an operation such as drilling, in order to ensure that the contact position of the drill 105 with a surgical target of a patient is better in a working state driven by the second driving device 103, so as to facilitate the contact angle of the operation, the connecting member 107 is vertically connected to the drill housing 104, thereby ensuring that the drill 105 is kept vertical to the surgical target, and facilitating the control of the drill 105 to perform oral surgery such as drilling at the target.

Optionally, in one implementation of the present embodiment, the connecting member 107 is a straight rod or an arc-shaped rod.

In an implementation scenario of the embodiment, the straight rod or the arc rod is simple in manufacturing process and low in cost, and the sliding structure 1021 and the drill point housing 104 or the second driving device 103 can be fixedly connected through the connecting piece 107 simply and conveniently, so that when the drill point housing 104 and the second driving device 103 move along with the sliding structure 1021, the positions of the drill point housing 104 and the second driving device 103 are relatively fixed, and the drill point 105 inserted into the drill point housing 104 can be stably driven by the second driving device 103.

Alternatively, in one implementation of this embodiment, as shown in fig. 1, the second driving device 103 is detachably mounted on the connecting member 107 through a fixing rod 108.

In the above implementation manner of the present embodiment, the second driving device 103 is detachably mounted on the connecting member 107 through the fixing rod 108, so that the second driving device 103 can be easily detached for maintenance or replacement.

Optionally, in one implementation of the present embodiment, the transmission structure 106 includes a transmission shaft 1061 and a gear set (not shown in the drawings);

the drive shaft of the second drive means 103 is connected to the drive shaft 1061, the drive shaft 1061 is connected to a gear train, and the gear train is connected to the drill point 105, so that when the second drive means 103 is in operation, the drive of the drill point 105 is achieved in a relatively simple and easy to implement manner by means of the drive shaft 1061 and the gear train.

In the above implementation manner of the embodiment, the transmission structure 106 is configured to include the transmission shaft 1061 and the gear set, so that the structure and the use of the transmission structure 106 are simpler and easier to implement, and meanwhile, it is also convenient to detach, maintain or replace any one of the second driving device 103 or the transmission structure 106 when any one of the components fails, thereby effectively reducing the overall cost of the device and equipment, and prolonging the service life of the oral surgery assisting device.

Optionally, in an implementation manner of the present embodiment, a locking switch 1041 for detaching and installing the drill pin 105 is further disposed at the top of the drill pin housing 104, so that the drill pin 105 can be stably inserted into the drill pin housing 104 and conveniently detached and replaced.

Optionally, in an implementation manner of this embodiment, as shown in fig. 2, fig. 2 is a side view of a first driving device provided in this embodiment of the present application, where the first driving device includes a first driving motor 112 and a screw 122; the sliding structure 1021 is installed on the screw rod 122, and the screw rod 122 is connected with the first driving motor 112, so that the first driving motor 112 drives the screw rod 122 to rotate, and the sliding structure 1021 is driven to move.

In the above implementation manner of the present embodiment, the sliding structure 1021 is connected with the first driving motor 112 through the lead screw 122, so that the lead screw 122 is driven by the first driving motor 112 to move, and further the sliding structure 1021 connected with the lead screw 122 is driven to move towards a direction away from or close to the first driving motor 112, and the structure is simple, the cost is low, and the driving manner is easy to control, and the accuracy is high.

Optionally, in an implementation manner of this embodiment, as shown in fig. 2, the first driving device 102 may further include a base 132, and the sliding structure 1021 is disposed on the base 132.

In the above implementation manner of the present embodiment, the base 132 is disposed in the first driving device, and the sliding structure 1021 is disposed on the base 132, so that the sliding structure 1021 can slide along the base 132 when controlled to slide, thereby further improving the accuracy of the sliding control on the sliding structure 1021.

Optionally, in an implementation manner of the present embodiment, as shown in fig. 3, fig. 3 is a schematic structural diagram of a sliding structure provided in the embodiment of the present application, where the sliding structure includes a sliding block 1121, a linear guide 1221, and a supporting seat 1321;

the supporting seat 1321 is fixedly disposed on the base 132, the linear guide 1221 is fixedly connected to the supporting seat 1321, the linear guide 1221 penetrates through the slider 1121, a thread is disposed in the slider 1121, the screw 122 is screwed into the thread, and the first driving motor 112 drives the screw 122 to rotate, so as to drive the slider 1121 to slide.

In the above implementation manner of the present embodiment, as shown in fig. 2, the sliding structure is configured to include a sliding block 1121, a linear guide 1221, and a supporting seat 1321, a screw rod is screwed into a thread in the sliding block, and a driving shaft of the first driving motor 112 drives the screw rod to rotate, so as to drive the sliding block to move along the direction of the screw rod. The linear guide 1221 is parallel to the screw rod, and when the slider 1121 is driven by the first driving motor 112 to slide, the slider 1121 can slide along the linear guide 1221 more stably, so that the sliding controlled precision is better, the structure is simple, and the implementation cost is low.

In an implementation manner of this embodiment, as shown in fig. 3, preferably, the number of the linear guide rails 1221 is two, the two linear guide rails 1121 are respectively erected at two sides of the screw 122 and are slidably connected to the slider 1121, and the two linear guide rails 1121 are configured to better ensure that a moving track of the slider 1121 during sliding moves along a direction of a straight line close to or away from the first driving motor 112, so as to better ensure accuracy of controlling a moving direction of the slider 1121.

Optionally, in one implementation of the present implementation, the support seat 1321 includes a front support seat 13211 and a rear support seat 13212, wherein:

the front support 13211 is fixedly disposed on the base 132 near the first driving motor 112;

the rear supporting seat 13212 is fixedly disposed on the base 132 at a position far away from the first driving motor 112;

the linear guide 1221 is installed between the front and rear supporting

holders

13211 and 13212, and is perpendicular to the front and rear supporting

holders

13211 and 13212.

In the above implementation manner of the present embodiment, the supporting seat 1321 is configured to include a front supporting seat 13211 and a rear supporting seat 13212, and are respectively fixed to the base 132, and the linear guide 1221 is erected between the front supporting seat 13211 and the rear supporting seat 13212, so that when the first driving motor 112 drives the screw rod 122 to drive the slider 1121 to move, the slider 1121 can better move along the linear guide 1221 towards a linear direction away from or close to the first driving motor 112, and is always located between the front supporting seat 13211 and the rear supporting seat 13212, so as to limit a sliding position of the slider 1121, and ensure stability of a sliding process of the slider 1121.

Optionally, in an implementation scenario of the present embodiment, the second driving device 103 is generally a small driving motor with a size smaller than a preset size, and by providing the small driving motor with a size smaller than the preset size, while ensuring that the small driving motor can drive the drill point 105 to work, the overall weight connected to the slider 1121 is reduced, so as to further improve the stability of the oral surgery machine auxiliary device of the present embodiment in performing the surgery, and reduce the energy consumption for controlling the device.

Optionally, in an implementation scenario of the present embodiment, the height of the drill point housing 104 is less than or equal to the first threshold, and the width is less than or equal to the second threshold. Wherein the first threshold and the second threshold are set according to the size of the mouth opening.

In the use process of the oral surgery robot, a patient needs to keep a posture with a large open mouth for a long time, and extra fatigue and pain are easily brought to the patient. In this embodiment, a big data statistical analysis can be performed on the size of the mouth opening of the patient, a comfortable size threshold for the mouth opening of the patient can be determined, such as a high comfort threshold when the mouth is open, as a first threshold, and a depth comfort threshold when the foreign object extends into the mouth, as a second threshold, according to the first threshold value and the second threshold value, and the size requirement of the drill point 105 for normal work and drilling, the drill point shell 104 and the drill point 105 with corresponding sizes are arranged, for example, the height of the drill bit housing 104 is set to be less than or equal to a first threshold, the width is set to be less than or equal to a second threshold, to ensure that while the drill housing 104 carries the drill pin 105 to be able to extend into the patient's mouth to contact a surgical target for surgery, and the fatigue caused by the fact that the patient maintains the mouth opening posture in the operation process can be reduced, so that the pain of the patient caused by the operation process is reduced.

Optionally, in an implementation manner of this embodiment, a protective sleeve (not shown in the drawings) may be further disposed outside the sliding structure in the first driving device, a lower end of the protective sleeve is clamped with the base, and when the lower end of the protective sleeve is clamped with the base, the sliding structure is accommodated in a cavity formed by clamping the protective sleeve with the base. The upper side of the protective sleeve is provided with a slot to enable the connector to move along the long side of the slot. Through setting up the protective sheath, can protect the damage that first drive arrangement and outside object bump produced, improve first drive arrangement's life, the mode of joint also can guarantee this protective sheath easily to dismantle simultaneously to maintain if first driving motor or lead screw etc. that contain in the first drive arrangement.

The oral surgery auxiliary device that this embodiment provided includes: the device comprises a control system, a first driving device, a second driving device, a drill point shell and a transmission structure; the control system is respectively electrically connected with the first driving device and the second driving device, and a sliding structure on the first driving device is fixedly connected with the drill point shell through a connecting piece; the drill point is inserted in the drill point shell; the second driving device drives the drill point in the drill point shell to rotate through the transmission structure, and the second driving device is installed on the connecting piece and/or the sliding structure. The utility model provides an oral cavity operation auxiliary device, sliding structure through on the first drive arrangement of control system control drives the drill point of cartridge in the drill point casing towards accurate oral cavity operation target position, when the during operation of control system control second drive arrangement, the second drive arrangement passes through transmission structure drive drill point and rotates, in order to accomplish operations such as drilling at patient's oral cavity operation target position, this oral cavity operation auxiliary device's simple structure, control accuracy is high, easily control, high durability and convenient use, low in manufacturing cost, and the trade of being convenient for is used widely.

Example two

Based on the oral surgery auxiliary device of the first embodiment of the present application, the second embodiment of the present application further provides an oral surgery robot, as shown in fig. 4, fig. 4 is a schematic structural diagram of the oral surgery robot provided by the embodiment of the present application, and the oral surgery robot includes any one of the oral surgery auxiliary devices 201 according to the first embodiment of the present application, and further includes a mechanical arm 202.

The first driving device 102 is fixedly mounted at the end of the robot arm 202, and the robot arm 202 is electrically connected to the control system 101.

In this embodiment, in order to facilitate the oral surgery, the embodiment of the present application provides an oral surgery robot including a mechanical arm 202 and an oral surgery auxiliary device 201, so that an operator can adjust the posture of the mechanical arm 202 by controlling the oral surgery robot, so that a drill point of the oral surgery auxiliary device 201 connected to the end of the mechanical arm 202 maintains a good surgical contact angle with a surgical target site in the oral cavity of a patient, thereby facilitating the oral surgery and ensuring the surgical effect. For example, when the patient lies down, the drill of the oral surgery assisting device 201 is directed to the contact point of the affected oral surgery target by adjusting the posture of the mechanical arm 202 to maintain a perpendicular angle, so as to facilitate the oral surgery such as drilling, etc. through the drill.

Optionally, in an implementation scenario of the present embodiment, the mechanical arm 202 is, for example, a mechanical arm including multiple degrees of freedom, and by setting the mechanical arm 202 as a mechanical arm including multiple degrees of freedom, flexibility of the control system 101 in controlling the mechanical arm 202 in the present embodiment can be effectively improved, so that the present embodiment is better adapted to different operation scenarios. Preferably, the mechanical arm 202 is a 6-degree-of-freedom mechanical arm, and an oral surgery robot including the 6-degree-of-freedom mechanical arm is used, so that multi-posture control required by a surgical process can be conveniently and highly accurately realized while cost is saved.

Optionally, in an implementation manner of the present embodiment, the oral surgery robot may further include a manipulation assembly 203, the manipulation assembly 203 is electrically connected to the control system 101, and the manipulation assembly 203 is configured to generate a control instruction for the robot arm 202 and/or the oral surgery assisting apparatus 201.

In this embodiment, to enable flexible operation of the robotic arm 202 and/or oral hand assist device 201, a steering assembly 203 may be provided. This embodiment exemplifies an implementation of the manipulating component 203: for example, the present invention includes an attitude control button for operating the mechanical arm 202 to perform attitude adjustment, and a drive control button for controlling the operation of the first driving component or the second driving component of the oral surgery assisting device 201, so as to more flexibly and conveniently perform the surgical manipulation control through the manipulation component 203.

Optionally, in one implementation of the present embodiment, as shown in fig. 4, the oral surgical robot may further include a box 204;

the control system 101 is fixedly arranged in the box 204, the front end of the mechanical arm 202 is fixedly connected with the top end of the box 204, and the control assembly 203 is detachably mounted on the side wall of the box 204.

In one implementation of this embodiment, the control system 101 is fixedly disposed inside the box 204 of the oral surgery robot, and the front end of the mechanical arm 202 is fixedly connected to the top end of the box 204, so that core components such as the control system can be effectively protected from being damaged by collision, and the mechanical arm 202 and the oral surgery auxiliary device 201 can be conveniently moved integrally by moving the box 204.

In one implementation manner of this embodiment, the oral surgical robot further includes a placing box 205, the placing box 205 is disposed outside the box 204, and the manipulating component 203 can be received in the placing box 205 when not in use.

In the above implementation manner of the present embodiment, the manipulation assembly 203 is disposed outside the box 204, so that an operator, such as a doctor, can conveniently manipulate the manipulation assembly 203 at a suitable position by using two hands. Meanwhile, the placing box 205 is arranged on the outer side of the box body 204, so that when the oral surgery robot is not used for surgery, the control assembly 203 is stored in the placing box 205, and the situation that the control assembly 203 is lost or damaged is avoided.

Optionally, in an embodiment of the present application, as shown in fig. 4, the oral surgical robot further includes a support frame 206, the support frame 206 is disposed below the box 204, and an adjustable rotary switch (not shown in the drawings) is disposed on the support frame 206 and is used for adjusting the height of the box 204 from the ground and the horizontal posture of the box 204.

In the embodiment, the support frame 206 is arranged below the box body 204, and the height of the box body 204 supported by the support frame 206 from the ground and the horizontal posture of the box body 204 are adjusted through the rotary switch, so that the oral surgery robot can be placed on different working platforms to meet the working requirements. Meanwhile, the static friction between the oral surgery robot and the working platform in the surgery place can be adjusted through the support frame 206, and the stability of the oral surgery robot placed on the platform in the surgery process is improved.

Optionally, as shown in fig. 4, universal wheels 207 are further connected to the bottom surface of the box 204, and preferably, the number of the universal wheels 207 is 4, so that the box oral surgery robot can be integrally moved by the 4 universal wheels 207.

Optionally, a locking structure (not shown in the drawings) is further disposed on each universal wheel 207, and the locking structure is used for locking the universal wheels 207 so as to prevent displacement generated during the use of the oral surgery robot from affecting the precision of the surgical treatment.

The application provides an oral surgery robot, includes: any oral surgery auxiliary device of this application embodiment one, still include: a mechanical arm; the first driving device is fixedly installed at the tail end of the mechanical arm, so that the oral surgery auxiliary device is connected with the mechanical arm, and the control system is electrically connected with the front end of the mechanical arm and used for controlling the mechanical arm through the control system. The application provides an oral surgery robot carries out operations such as gesture adjustment, position fine setting and operation drilling through control system control arm and the connection at the terminal oral surgery auxiliary device of arm, simple structure, convenient to use, with low costs, easy to maintain.

In various embodiments, the description with reference to the figures. Certain embodiments, however, may be practiced without one or more of these specific details, or in conjunction with other known methods and structures. In the following description, numerous specific details are set forth, such as specific structures, dimensions, processes, etc., in order to provide a thorough understanding of the present application. In other instances, well-known semiconductor processing techniques and manufacturing techniques have not been described in particular detail in order to avoid obscuring the present application. Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, configuration, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearance of the phrase "in one embodiment" in various places throughout the specification are not necessarily referring to the same example. Furthermore, the particular features, structures, configurations, or characteristics may be combined in any suitable manner in one or more embodiments.

In the present disclosure, the expression "a or B", "at least one of a or/and B" or "one or more of a or/and B" may include all possible combinations of the listed items. For example, the expression "a or B", "at least one of a and B", or "at least one of a or B" may include: (1) at least one a, (2) at least one B, or (3) at least one a and at least one B.

The expressions "first", "second", "said first" or "said second" used in various embodiments of the present disclosure may modify various components regardless of order and/or importance, but these expressions do not limit the respective components. The foregoing description is only for the purpose of distinguishing elements from other elements. For example, the first user equipment and the second user equipment represent different user equipment, although both are user equipment. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present disclosure.

When an element (e.g., a first element) is referred to as being "operably or communicatively coupled" or "connected" (operably or communicatively) to "another element (e.g., a second element) or" connected "to another element (e.g., a second element), it is understood that the element is directly connected to the other element or the element is indirectly connected to the other element via yet another element (e.g., a third element). In contrast, it is understood that when an element (e.g., a first element) is referred to as being "directly connected" or "directly coupled" to another element (a second element), no element (e.g., a third element) is interposed therebetween.

The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. An oral surgery assistance device, comprising: the device comprises a control system (101), a first driving device (102), a second driving device (103), a drill bit shell (104) and a transmission structure (106);

the control system (101) is electrically connected with the first driving device (102) and the second driving device (103) respectively, a sliding structure (1021) on the first driving device (102) is fixedly connected with the drill point shell (104) through a connecting piece (107), and a drill point (105) is detachably inserted into the drill point shell (104);

the second driving device (103) is mounted on the connecting piece (107) and/or the sliding structure (1021), and the second driving device (103) drives the drill point (105) in the drill point housing (104) to rotate through the transmission structure (106).

2. The oral surgery assistance device according to claim 1, wherein a moving track of the drill point (105) when driven by the second driving device (103) is parallel to a moving track of the sliding structure (1021).

3. The oral surgery assistance device according to claim 1, characterized in that the connection piece (107) is connected perpendicularly to the drill bit housing (104).

4. An oral surgery aid according to claim 1, characterised in that the connecting piece (107) is a straight or curved rod.

5. An oral surgery assistance device according to claim 1, characterised in that the second drive means (103) is detachably mounted on the connecting piece (107) by means of a fixing rod (108).

6. The oral surgery assistance device according to claim 1, characterized in that the transmission structure (106) comprises a transmission shaft (1061) and a gear set;

the driving shaft of the second driving device (103) is connected with the transmission shaft (1061), the transmission shaft (1061) is connected with the gear set, and the gear set is connected with the drill point (105).

7. The oral surgery assisting device according to claim 1, wherein a locking switch (1041) for dismounting the drill point (105) is arranged at the top of the drill point shell (104).

8. The oral surgery assistance device according to claim 1, characterized in that the first drive means (102) comprises a first drive motor (112) and a lead screw (122);

the sliding structure (1021) is installed on the screw rod (122), the screw rod (122) is connected with the first driving motor (112), and the first driving motor (112) drives the screw rod (122) to rotate.

9. The oral surgery assistance device according to claim 8, characterized in that the first drive device (102) further comprises a base (132), the sliding structure (1021) being provided on the base (132).

10. The oral surgery assistance device according to claim 9, wherein the sliding structure (1021) further comprises: the sliding block (1121), the linear guide rail (1221) and the supporting seat (1321);

the sliding block (1121) is connected with the connecting piece (107), the supporting seat (1321) is fixedly arranged on the base (132), the linear guide rail (1221) is fixedly connected with the supporting seat (1321), the linear guide rail (1221) penetrates through the sliding block (1121), threads are arranged in the sliding block (1121), the screw rod (122) is screwed into the threads, and the screw rod (122) is driven to rotate through the first driving motor (112), so that the sliding block (1121) is driven to move.

11. The oral surgery assistance device according to claim 10, wherein the support base (1321) comprises a front support base (13211) and a rear support base (13212), wherein:

the front support seat (13211) is fixedly arranged on the base (132) at a position close to the first driving motor (112);

the rear supporting seat (13212) is fixedly arranged on the base (132) at a position far away from the first driving motor (112);

the linear guide (1221) is installed between the front supporting seat (13211) and the rear supporting seat (13212) and the linear guide (1221) is perpendicular to the front supporting seat (13211) and the rear supporting seat (13212).

12. An oral surgery robot comprising the oral surgery assistance device (201) according to any one of claims 1 to 11, and further comprising: a robotic arm (202);

the first driving device (102) is fixedly arranged at the tail end of the mechanical arm (202), and the mechanical arm (202) is electrically connected with the control system (101).

13. The oral surgical robot of claim 12, further comprising: a steering assembly (203);

the manipulation assembly (203) is electrically connected with the control system (101), and the manipulation assembly (203) is used for generating control instructions for the mechanical arm (202) and/or the oral surgery auxiliary device (201).

14. The oral surgical robot of claim 13, further comprising a case (204);

the control system (101) is arranged in the box body (204);

the front end of the mechanical arm (202) is fixedly connected with the top of the box body (204);

the control assembly (203) is detachably arranged on the side wall of the box body (204).