CN114343899A - Respiratory tract fluid suction device, use method, dental robot and storage medium - Google Patents
Respiratory tract fluid suction device, use method, dental robot and storage medium Download PDFInfo
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- CN114343899A CN114343899A CN202111470828.XA CN202111470828A CN114343899A CN 114343899 A CN114343899 A CN 114343899A CN 202111470828 A CN202111470828 A CN 202111470828A CN 114343899 A CN114343899 A CN 114343899A
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Abstract
The invention relates to the technical field of dental medical instruments, in particular to a respiratory tract fluid suction device, a using method, a dental robot and a storage medium. Respiratory track fluid suction means, including visual system, absorption subassembly and controller, the controller respectively with visual system with absorb the subassembly and be connected, visual system can acquire the target location to send target location information for the controller, the controller receives control behind the target location information and absorbs the subassembly and remove to target location department, and the control absorbs the subassembly and starts. The respiratory tract fluid suction device realizes the autonomous operation of all the processes from the acquisition of a target position to the suction of the target, also plays the role of a nurse in the dental operation, and avoids the adverse effect of the manual operation on the operation space in the prior art. Respiratory tract fluid suction means can cooperate the operation in coordination with dental robot, solves the artifical unable problem with dental robot joint operation, improves operation efficiency and reduces the human cost.
Description
Technical Field
The invention relates to the technical field of dental medical instruments, in particular to a respiratory tract fluid suction device, a using method, a dental robot and a storage medium.
Background
In the existing dental operation, a hand-held negative pressure saliva aspirator is generally used to perform a suction operation of saliva or blood. The suction tube of the saliva aspirator is required to be held by a nurse all the time during the operation, and after the nurse observes and confirms the position of saliva or blood in the mouth of a patient, the position of the suction head of the saliva aspirator is manually adjusted to aspirate the saliva or the blood.
However, the hand-held negative pressure saliva sucker has various disadvantages in practical application. On one hand, the operation space of dental operation is small, the hand-held negative pressure saliva aspirator used by a nurse can further occupy the operation space, the visual field of a doctor and the running path of treatment equipment are often blocked by the hand-held negative pressure saliva aspirator, so that the operation difficulty is improved, and the operation effect is difficult to achieve the best; on the other hand, the operation result of the hand-held negative pressure saliva aspirator completely depends on the observation of a nurse in the operation, the operation position of the dental operation is complicated, the upper, lower, left and right teeth can be involved, the bleeding position of the teeth is difficult to accurately judge only by the naked eye observation of the nurse, and the saliva or blood cannot be effectively aspirated in time. With the development of medical technology, the development trend of the whole procedure of the dental operation without the human autonomous operation is very clear, and under the trend, the continuous operation of the artificial hand-held saliva aspirator not only can generate higher labor cost, but also can not meet the requirement of the cooperative operation with the fully autonomous dental robot.
Disclosure of Invention
Accordingly, the invention provides a respiratory tract fluid suction device, a using method thereof, a dental robot and a storage medium, wherein the respiratory tract fluid suction device can acquire the position of respiratory tract fluid and automatically suck the respiratory tract fluid.
The invention discloses a respiratory tract fluid suction device, which comprises a visual system, a suction assembly and a controller, wherein the controller is respectively connected with the visual system and the suction assembly, the visual system can acquire a target position and send target position information to the controller, and the controller controls the suction assembly to move to the target position and controls the suction assembly to start after receiving the target position information.
In one embodiment, the respiratory tract fluid suction device further comprises a power device and a plurality of driving pieces, wherein the power device is in communication connection with the controller, and the suction assembly is provided with a moving end; the driving parts are strip-shaped flexible parts, one end of each driving part is connected with the moving end, the other end of each driving part is connected with the power device, the power device can control the driving parts respectively, the driving parts are enabled to move at the moving end to generate vector synthesis, and the suction assembly is enabled to move. In one embodiment, the respiratory fluid suction device further comprises a restriction component, wherein the restriction component can enable a plurality of driving pieces to be parallel to each other.
In one embodiment, the restraint assembly is an annular clamp, a circumferentially arranged limiting hole is formed in the annular clamp, and the driving piece penetrates through the limiting hole to be connected with the movable end.
In one embodiment, the power device comprises a power element, the driving end of the power element is provided with a wire collecting wheel, the driving piece is wound on the wire collecting wheel, and the rotation of the wire collecting wheel can enable the length of the driving piece to be changed.
In one embodiment, the respiratory tract fluid suction device further comprises a beam splitter, wherein the beam splitter is provided with wire harness holes which are arranged at intervals, and the driving piece penetrates through the wire harness holes to be connected with the power device.
In one embodiment, the driving member is a driving wire. In one embodiment, the constraint component is a flexible sleeve, the driving component is a hollow pipeline arranged in the pipe wall of the flexible sleeve along the length direction of the flexible sleeve, one end of the hollow pipeline corresponding to the moving end is closed, and the other end of the hollow pipeline is connected with an air pump.
In one embodiment, the suction assembly is provided with a mobile end, the vision system being provided on an axial end face of the mobile end or on a circumferential outer surface of the mobile end.
The invention discloses a dental robot, which comprises a mechanical arm and the respiratory tract fluid suction device, wherein the respiratory tract fluid suction device can move along with the mechanical arm.
In a second aspect, the invention discloses a method for using a respiratory tract fluid suction device, which comprises the following steps:
planning a moving path of the suction assembly based on the target position information;
and controlling the suction assembly to move to a target position along the moving path and sucking the respiratory tract fluid.
In a third aspect of the invention, a computer-readable storage medium is disclosed, having stored thereon a computer program which, when executed by a processor, implements a method of using the aforementioned respiratory fluid uptake device.
Advantageous effects
According to the respiratory tract fluid suction device, the visual system is arranged to identify the target and correspondingly generate the target position information, the controller controls the suction assembly to move to the target according to the target position information and executes the suction operation, so that the respiratory tract fluid suction device can perform autonomous operation of all processes from the acquisition of the target position to the suction of the target, the function of a nurse in dental surgery is also played, and the adverse effect of the manual operation on the surgery space in the prior art is avoided. And because respiratory track fluid suction means is by controller control, it can cooperate the dental robot to carry out the collaborative work, solves the problem that manual use saliva aspirator can't be with independently dental robot collaborative work among the prior art, improves operation efficiency and reduces the human cost.
Drawings
FIG. 1 is a schematic view of a dental robot according to some embodiments of the present invention;
FIG. 2 is a schematic view of an airway fluid aspiration device according to some embodiments of the present invention;
FIG. 3 is a schematic view of a power unit of the respiratory fluid suction device according to some embodiments of the present invention;
FIG. 4 is an enlarged view of the power unit of the respiratory fluid uptake device according to some embodiments of the present invention;
FIG. 5 is a schematic view of an airway fluid suction device according to another embodiment of the present invention;
FIG. 6 is a diagram of a hardware system architecture of a dental robot according to some embodiments of the present invention;
FIG. 7 is a diagram of a control system architecture for a dental robot according to some embodiments of the present invention;
FIG. 8 is a flow chart of a method of using the dental robot in some embodiments of the present invention;
wherein 100 is a respiratory tract fluid suction device, 200 is a power device, 300 is a mechanical arm, 500 is a dental handpiece, 101 is a vision system, 102 is a moving end, 103 is a driving piece, 104 is an annular hoop, 105 is a flexible sleeve, 111 is a suction assembly, 201 is a fixing piece, 202 is a power element, 203 is a wire collecting wheel, 204 is a brake, and 205 is a beam splitter.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the 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 not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
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; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
Referring to fig. 1, fig. 1 shows the dental robot in an embodiment of the present invention, which includes an airway fluid suction device 100 and a robot arm 300, and the airway fluid suction device 100 moves along with the robot arm 300. As shown in fig. 2, the respiratory tract fluid suction device 100 includes a vision system 101, a suction assembly 111, and a controller, where the controller is connected to the vision system 101 and the suction assembly 111, respectively, and can receive signals of the vision system 101 and the suction assembly 111, the vision system 101 can acquire a position of a target, such as a bleeding point or saliva in an oral cavity of a patient, and send position information to the controller, and the controller receives the target position information and then controls the suction assembly 111 to move to the target, and performs a suction operation on blood or saliva using the suction assembly 111.
According to the respiratory tract fluid suction device 100, the vision system 101 is arranged to acquire the target position information, the controller controls the suction component 111 to move to the target according to the target position information and performs suction operation, so that all processes from the acquisition of the target position to the suction of the target are autonomously operated by the respiratory tract fluid suction device 100, the function of a nurse in dental operation is also played, and the adverse effect of manual work on an operation space in the prior art is avoided. And because respiratory track fluid suction means is by controller control, it can cooperate the dental robot to carry out the collaborative operation, solves the artificial saliva aspirator and can't with independently dental robot joint operation's problem, improves operation efficiency and reduces the human cost.
Specifically, as shown in fig. 2, in some embodiments, the suction assembly 111 may be a suction pipe. It will be appreciated that the pipette should include a suction end for sucking the target and a discharge end for discharging the target from the tube. For example, a negative pressure device, such as a negative pressure air pump, may be connected to the discharge end of the straw, and the effect of sucking blood or saliva through the suction end and discharging blood or saliva through the discharge end is achieved by the air pressure difference between the suction end and the discharge end.
The vision system 101 should at least include a vision camera, and in some embodiments, it may further include a light source for meeting the brightness requirement when the vision camera acquires an image. The method for acquiring the target image and determining the positions of the sucking component 111 and the targets such as saliva and blood by the vision system 101 may be implemented by using the existing image processing technology by those skilled in the art, and the method for planning the moving path of the sucking component 111 according to the target position may also be implemented by those skilled in the art by using the existing path planning method, which is not limited by the present invention.
After obtaining the moving path of the suction assembly 111, in order to enable the suction assembly 111 to move according to the moving path, in some embodiments as shown in fig. 1 and fig. 2, the respiratory tract fluid suction device 100 further includes a power device 200 and a plurality of driving members 103, the suction assembly 111 includes a moving end 102, the driving members 103 are strip-shaped flexible members, one end of the driving members 103 is connected to the moving end 102, and the other end thereof is connected to the power device 200, the power device 200 can drive and control each driving member 103 respectively, so that the displacements of the driving members at the moving end 102 are vector-synthesized, and further the suction assembly 111 is moved. The power plant 200 is also in communication with a controller. With the arrangement, the plurality of driving members 103 are controlled respectively, so that the vector sum of the displacements of the plurality of driving members 103 at the moving end 102 is controlled, and the pose of the moving end 102 is controlled accordingly, thereby realizing the control movement of the suction assembly 111.
Further, the number and arrangement of the driving members 103 can be optimized by those skilled in the art according to actual requirements. In some embodiments, in order to achieve a higher accuracy of controlling the displacement of the suction assembly 111, the number of driving members 103 may be increased, and the driving members 103 may be arranged uniformly in the circumferential direction of the moving end 102. By increasing the number of the driving members 103, the displacement of the moving end 102 is combined by more component displacements, and by finely adjusting each component, the pose of the moving end 102 can be adjusted more accurately. By uniformly arranging the driving members 103 in the circumferential direction of the moving end 102, the corresponding components of each driving member 103 are as independent as possible, so that the pose of the moving end 102 can be adjusted more efficiently and accurately.
In some embodiments, the respiratory fluid suction device 100 of the present invention further comprises a constraining assembly, which can constrain a plurality of the driving members 103 to be parallel at all times during the movement. In this way, the bending direction of the plurality of driving members 103 is matched with the bending direction of the suction unit 111, and the movement of the suction unit 111 is more easily controlled.
Specifically, in the partial embodiment shown in fig. 2, the restraining component is an annular collar 104, the driving member 103 is a driving wire, and the annular collar 104 is provided with a circumferentially arranged limiting hole through which the driving wire passes to connect with the moving end 102. By controlling the length of each drive wire, the specific pose of the moving end of the suction assembly 111 can be controlled. Further preferably, there may be more than one annular band 104. In the partial embodiment shown in fig. 2, the number of the annular clips 104 is 6, which are arranged uniformly in the longitudinal direction of the driver 103. So configured, the integrity of the driver 103 may be further improved, which may help to provide more precise and stable control of the driver 103.
In some embodiments, as shown in fig. 3 and 4, the power device 200 includes a power element 202, the power element 202 is disposed on a fixing member 201, a wire collecting wheel 203 is disposed at a driving end of the power element 202, a driving member is wound on the wire collecting wheel 203, and the wire collecting wheel 203 can be driven by the power element 202 to rotate, so that a length of the driving member changes. Still taking the driving element as an example of the driving steel wire, the rotating direction and the number of rotating turns of the line concentration wheel 203 are controlled independently by each power device 200, and the length of each driving steel wire can be controlled precisely, so that the control of the pose of the moving end 102 and even the suction assembly 111 is realized. The aforementioned power element 202 may be an electric motor in some embodiments. In some embodiments, the power device 200 may further include a brake 204, the brake 204 being capable of braking the power element 202.
Preferably, as shown in fig. 4, based on the above solution, the respiratory tract fluid suction device 100 of the present invention further comprises a beam splitter 205, wherein the beam splitter 205 is provided with wire harness holes arranged at intervals, and the driving member passes through the wire harness holes to connect with the power device 200. In some embodiments, the beam splitter 205 is positioned proximate to the power plant 200. Taking the driving member as an example of the driving steel wire, by adding the beam splitter 205, since there is a space between the beam holes, there will also be a certain space between the driving steel wires passing through the plurality of beam holes, so that the driving steel wires can be prevented from interfering with each other.
In other embodiments, as shown in fig. 5, the constraining assembly is a flexible sleeve 105 sleeved outside the suction assembly 111, and an end of the flexible sleeve 105 is connected to the moving end 102 of the suction assembly 111; the driving member 103 is a hollow pipeline arranged in the wall of the flexible sleeve 105 along the length direction thereof, the end of the hollow pipeline corresponding to the moving end 102 is closed, and the other end thereof is communicated with an air pump. Due to the constraining action of the flexible sleeve 105, several hollow tubes must remain parallel to each other. In this embodiment, the air pump is used to adjust the pressure in each trachea, so that the deformation of the trachea at different positions of the flexible cannula 105 is different, and the pose of the moving end 102 at the end of the flexible cannula 105 is changed, so that the pose of the suction assembly 111 can be adjusted.
It is to be understood that the present invention is not limited to the specific installation position of the vision system 101, as long as it does not affect the normal operation of the suction assembly 111. For example, in some embodiments, the vision system 101 is disposed on an axial end surface of the moving end 102, and in other embodiments, the vision system 101 may also be disposed on a circumferential outer surface of the moving end 102. Since the suction assembly 111 needs to be inserted into the mouth of the patient to perform suction on the target such as blood or saliva, by placing the vision system 101 on the mobile end 102, the vision system 101 can be very close to the target such as blood or saliva, thereby obtaining an accurate position of the target. Moreover, since the position of the vision system 101 is very close to the suction end of the suction assembly 111, the conversion and adjustment of the position coordinates of the suction assembly 111 are easier, and the control accuracy of the respiratory fluid suction device 100 according to the present invention can be improved.
By arranging any one of the respiratory tract fluid suction devices 100, the dental robot of the present invention can recognize the position of a target such as saliva or blood in the oral cavity in real time, and dynamically adjust the pose of the suction assembly 111 according to the position of the target, so that the respiratory tract fluid suction device 100 can timely suck the target such as saliva or blood, and the cleanness of the surgical environment can be ensured at any time.
In another aspect, the present invention discloses a method for using a respiratory fluid suction device, which comprises the following steps:
planning a moving path of the suction assembly based on the target position information;
and controlling the suction assembly to move to a target position along the moving path and sucking the respiratory tract fluid.
In yet another aspect, a computer-readable storage medium is disclosed, having a computer program stored thereon, which, when executed by a processor, performs the steps of a method for using an airway fluid uptake device.
By using the use method of the respiratory tract fluid suction device, the use of manpower is avoided, the operation space is enlarged, the respiratory tract fluid can be automatically sucked, and the cleanness of the operation environment is ensured at any time.
The invention also discloses a dental robot, and particularly, as shown in fig. 1, the dental robot further comprises a dental handpiece 500, the dental handpiece 500 is arranged at the movable end of the mechanical arm 300, and a doctor can move the dental handpiece 500 to the oral cavity of a patient to perform dental surgery by controlling the mechanical arm 300.
Further, in some embodiments, as shown in fig. 6, a hardware system architecture diagram of the dental robot of the present invention includes a data processing module, a data management module, a visualization module, a GUI module, a respiratory fluid suction device data module, an external image data module, and an NDI device data module, wherein,
the GUI module is used for user interaction and is respectively and electrically connected with the data processing module and the visualization module;
the NDI equipment data module, the respiratory tract fluid suction device data module and the external image data module are respectively electrically connected with the data processing module;
the visualization module is electrically connected with the data management module, the data processing module and the GUI module respectively.
In some embodiments, as shown in fig. 7, a control system architecture diagram of the dental robot of the present invention is shown, wherein the robot arm, the NDI device, the implant handpiece, the wire drive motor, the vision camera, the light source, and the power panel embedded software are all in communication with a control program of the motion control software of the dental robot through EtherCAT, and the surgical navigation software includes a preoperative planning program and an intraoperative navigation program, wherein the preoperative planning program is in communication with the control program of the motion control software through an ADS communication interface.
By using the dental robot comprising the respiratory tract fluid suction device, the position and the posture of the respiratory tract fluid suction device can be automatically adjusted by using the dental robot, so that the operation space of a nurse is saved, and the space requirement of dental operation is greatly reduced. Moreover, the visual navigation function is brought to the respiratory tract fluid suction device by the visual system, so that the saliva and bleeding positions of the patient can be accurately positioned, and the problem of inaccurate positioning due to the narrow visual field of a nurse is solved. In addition, the controller of the respiratory tract fluid suction device can plan the moving path of the respiratory tract fluid suction device according to the target position information and can control the respiratory tract fluid suction device to move according to the planned path, so that the dental robot disclosed by the invention realizes full-autonomous intelligent control, can finish timely suction operation of saliva and blood without intervention of other personnel, can work in cooperation with the autonomous dental robot, solves the problem that an artificial saliva aspirator cannot work together with the autonomous dental robot, improves the operation efficiency and reduces the labor cost.
The method of using the dental robot, in some embodiments specifically including,
upon activation of the robotic arm, the respiratory fluid uptake device 100 moves to the vicinity of the target location with the robotic arm. Clinically, the target site, such as a bleeding site, is located in the oral cavity, and thus the robotic arm is controlled to move the respiratory fluid suction device 100 to the vicinity of the oral cavity;
the controller controls and starts the visual system 101 of the respiratory tract fluid suction device 100, obtains the positions of the suction assembly 111, the target such as saliva or blood and the like, and sends the target position information to the controller;
the controller receives the target position information and plans the moving path of the respiratory tract fluid suction device 100;
the controller controls the movement of the airway fluid suction device 100 to the target location and controls the actuation of the suction assembly 111.
Since the detailed structure, functional principle and technical effect of the mechanical arm, the respiratory tract fluid suction device 100, the vision system 101, the suction assembly 111 and the controller are described in detail in the foregoing, further description is omitted here. Reference is made to the above description for any technical details regarding the robotic arm, airway fluid aspiration device 100, vision system 101, aspiration assembly 111, and controller.
Preferably, in some embodiments, a person skilled in the art may further use the vision system 101 to sequentially acquire the target positions of the suction component 111, saliva, blood, and the like according to actual needs, so as to sequentially adjust the suction component 111 to the oral cavity of the patient, adjust the suction component 111 to the saliva accumulation region, and adjust the suction component 111 to the bleeding point.
Specifically, in some embodiments, the method for using the dental robot includes the steps as shown in fig. 8, including the following steps:
the suction assembly moves to the vicinity of the oral cavity along with the tail end of the mechanical arm;
the control system turns on the light source and the visual camera at the moving end;
judging the position of the suction end of the suction assembly according to the visual camera image;
planning the moving path of the moving end according to the positions of the suction end and the oral cavity;
the motor for driving the steel wire works;
the suction end is driven by the motor to approach and enter the oral cavity of the patient;
the mechanical arm carries out precise fine adjustment on the position and the posture of the planting mobile phone;
the moving end also carries out position fine adjustment along with the moving end, and the suction end is ensured to be close to the position of the implant;
the mobile phone is planted to start working for preparing holes;
saliva secretion begins in the oral cavity of the patient, and blood flows out from the prepared hole;
a vision camera on the moving end of the respiratory tract fluid suction device catches saliva and blood in the oral cavity;
the controller determines the accurate position of the saliva and the blood of the patient through the image;
the controller sends a control instruction of the steel wire to each motor through the position signal;
under the action of the motor, the moving end moves to the saliva and blood;
the controller controls the negative pressure device to start, and saliva and blood are sucked away in time through the suction pipe at the suction end of the suction assembly.
In conclusion, the use method of the dental robot disclosed by the invention discloses a technical scheme which does not need personnel intervention at all and can identify and suck the objects such as saliva, blood and the like in real time, so that the saliva sucking operation in the dental operation can be completed in a fully-autonomous and intelligent manner, the operation efficiency is improved, and the labor cost is reduced.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (12)
1. The utility model provides a respiratory track fluid suction means which characterized in that, includes vision system, absorbs subassembly and controller, the controller is connected with vision system and absorption subassembly respectively, vision system can acquire the target location to send target position information for the controller, the controller receives control behind the target position information and absorbs the subassembly and remove to target location department, and the control absorbs the subassembly and starts.
2. The respiratory fluid aspiration device of claim 1, further comprising a power device and a plurality of drive members, the power device being in communication with the controller, the aspiration assembly being provided with a moving end; the driving parts are strip-shaped flexible parts, one end of each driving part is connected with the moving end, the other end of each driving part is connected with the power device, the power device can control the driving parts respectively, the driving parts are enabled to move at the moving end to generate vector synthesis, and the suction assembly is enabled to move.
3. The respiratory fluid aspiration device of claim 2, further comprising a restriction component configured to allow a plurality of the drive members to be parallel to each other.
4. The respiratory fluid aspiration device of claim 3, wherein the restriction component is an annular band having a circumferentially disposed retaining hole, and the driving member is connected to the movable end through the retaining hole.
5. The respiratory fluid aspiration device of claim 2, wherein the power device comprises a power element, the driving end of the power element is provided with a wire collecting wheel, the driving piece is wound on the wire collecting wheel, and the rotation of the wire collecting wheel can change the length of the driving piece.
6. The respiratory fluid aspiration device of claim 2, further comprising a beam splitter, wherein the beam splitter is provided with wire harness holes arranged at intervals, and the driving member passes through the wire harness holes to be connected with the power device.
7. The respiratory fluid aspiration device of any one of claims 2-6, wherein the drive member is a drive wire.
8. The respiratory tract fluid suction device according to claim 3, wherein the restriction component is a flexible sleeve, the driving component is a hollow pipeline arranged in the tube wall of the flexible sleeve along the length direction of the flexible sleeve, one end of the hollow pipeline corresponding to the moving end is closed, and the other end of the hollow pipeline is connected with an air pump.
9. The respiratory fluid aspiration device of claim 1, wherein the aspiration assembly is provided with a moving end, and the vision system is disposed on an axial end face of the moving end or on a circumferential outer surface of the moving end.
10. A dental robot comprising a robotic arm and the respiratory fluid uptake device of any of claims 1-9, wherein the respiratory fluid uptake device is capable of following the robotic arm.
11. A method of using a respiratory fluid uptake device, comprising the steps of:
planning a moving path of the suction assembly based on the target position information;
and controlling the suction assembly to move to a target position along the moving path and sucking the respiratory tract fluid.
12. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method of claim 11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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