CN116492093A - Automatic change clean tooth system - Google Patents
Automatic change clean tooth system Download PDFInfo
- Publication number
- CN116492093A CN116492093A CN202310494900.5A CN202310494900A CN116492093A CN 116492093 A CN116492093 A CN 116492093A CN 202310494900 A CN202310494900 A CN 202310494900A CN 116492093 A CN116492093 A CN 116492093A
- Authority
- CN
- China
- Prior art keywords
- degree
- guide plate
- robot arm
- patient
- freedom robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000008859 change Effects 0.000 title description 3
- 238000004140 cleaning Methods 0.000 claims abstract description 31
- 210000000214 mouth Anatomy 0.000 claims abstract description 20
- 210000004513 dentition Anatomy 0.000 claims abstract description 13
- 230000036346 tooth eruption Effects 0.000 claims abstract description 13
- 208000002064 Dental Plaque Diseases 0.000 claims description 7
- 210000003128 head Anatomy 0.000 claims description 5
- 238000000034 method Methods 0.000 description 7
- 230000001580 bacterial effect Effects 0.000 description 4
- 208000006558 Dental Calculus Diseases 0.000 description 3
- 206010044029 Tooth deposit Diseases 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 208000028169 periodontal disease Diseases 0.000 description 1
- 230000019612 pigmentation Effects 0.000 description 1
- 230000000638 stimulation Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C17/00—Devices for cleaning, polishing, rinsing or drying teeth, teeth cavities or prostheses; Saliva removers; Dental appliances for receiving spittle
- A61C17/16—Power-driven cleaning or polishing devices
- A61C17/20—Power-driven cleaning or polishing devices using ultrasonics
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
- A61B1/0661—Endoscope light sources
- A61B1/0684—Endoscope light sources using light emitting diodes [LED]
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/24—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the mouth, i.e. stomatoscopes, e.g. with tongue depressors; Instruments for opening or keeping open the mouth
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/25—Process efficiency
Abstract
The invention discloses an automatic tooth cleaning system which comprises a three-dimensional oral cavity scanner, a guide plate maker, a multi-degree-of-freedom mechanical arm and a mobile terminal control device, wherein a digital model is formed by acquiring an oral cavity and a dentition of a patient through the three-dimensional oral cavity scanner, the three-dimensional oral cavity scanner inputs the digital model into the guide plate maker, the guide plate maker correspondingly makes a guide plate according to the digital model, the multi-degree-of-freedom mechanical arm is arranged on the guide plate, an ultrasonic working end and a miniature camera are arranged on the multi-degree-of-freedom mechanical arm, the guide plate is fixed on the dentition of the patient, the multi-degree-of-freedom mechanical arm and the mobile terminal control device are connected, the multi-degree-of-freedom mechanical arm is started, and the ultrasonic working end is correspondingly driven to clean the dentition of the patient through the miniature camera device to complete automatic full-mouth tooth cleaning.
Description
Technical Field
The invention relates to the technical field of oral medical equipment, in particular to an automatic tooth cleaning system.
Background
The ultrasonic tooth cleaning method is the most commonly used tooth cleaning method, ultrasonic tooth cleaning refers to high-frequency vibration generated by ultrasonic waves, water mist is combined to wash and remove dental plaque, bacterial plaque and color stain on gums, and tooth surfaces are polished to delay redeposition of the bacterial plaque and the dental plaque, wherein the bacterial plaque and the dental calculus are the most main local stimulation factors of periodontal diseases, the cleaning method is the most effective method for removing the bacterial plaque and the dental calculus on the gums, and the traditional ultrasonic tooth cleaning method generally adopts manual control mechanical operation only.
The manual operation of doctors is unskilled, the fatigue of long-time work and other reasons easily cause operation instability, the doctors cannot keep stable action when cleaning teeth, good hand-eye coordination cannot be achieved, the damage to gums and teeth can be caused in the process, and in a relatively narrow space of an oral cavity, the operation is long due to human eye vision deviation, angle blind areas and operation errors, all dental plaque and pigmentation cannot be cleaned, and the comfort level and the tooth cleaning experience of patients are poor.
Disclosure of Invention
The purpose of the invention is that: an automatic tooth cleaning system is provided for solving the problems caused by the difficulty of physician manipulation and visual judgment in the prior art.
The utility model provides an automatic change tooth cleaning system, includes three-dimensional oral cavity scanner, baffle processor, multi freedom machine arm and mobile terminal control equipment, passes through three-dimensional oral cavity scanner obtains patient's oral cavity and dentition and forms digital model, three-dimensional oral cavity scanner with digital model input the baffle processor, the baffle processor is according to digital model preparation baffle correspondingly, multi freedom machine arm installs on the baffle, be provided with ultrasonic wave work end and miniature camera on the multi freedom machine arm, will the baffle is fixed on patient's dentition, connect multi freedom machine arm with mobile terminal control equipment starts the multi freedom machine arm, through the position that passes through dental plaque indicator effect on miniature camera equipment patient's the dentition, multi freedom machine arm is corresponding to be driven ultrasonic wave work end cleans patient's dentition, accomplishes automatic full-mouth tooth cleaning.
As a preferable scheme of the invention, the guide plate maker is a 3D printer.
As a preferable scheme of the invention, a battery is arranged in the multi-degree-of-freedom robot arm, and the multi-degree-of-freedom robot arm is in wireless connection with the mobile terminal control equipment.
As a preferable scheme of the invention, the multi-degree-of-freedom robot arm is also provided with a light source.
As a preferable scheme of the invention, the multi-degree-of-freedom robot arm is also provided with a suction head.
As a preferred scheme of the invention, the guide plate is provided with an integrally formed bite pad, and the bite pad extends to the upper jaw dentition.
Compared with the prior art, the automatic tooth cleaning system has the beneficial effects that: can be free from manual labor, greatly reduce labor, well adapt to narrow and small spaces of the oral cavity, be easier to observe, and greatly improve comfort level of patients and tooth cleaning experience.
Drawings
FIG. 1 is a block diagram of the operational components of the present invention;
FIG. 2 is an enlarged schematic view of the operating state of the multi-degree of freedom robot arm according to one embodiment of the present invention when mounted on a guide plate.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
In the description of the present invention, it should be understood that the terms "mounted," "connected," and "connected" are to be construed broadly in this application, and may be either fixedly connected, detachably connected, or integrally connected, for example, unless otherwise explicitly stated and defined; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In the description of the present invention, it should be further understood that the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present invention and to simplify the description, and do not indicate or imply that the machine or element in question must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
Referring to fig. 1 and 2, an automatic dental scaler system according to an embodiment of the present invention includes a three-dimensional oral scanner, a guide plate maker, a multi-degree-of-freedom robot arm and a mobile terminal control device, wherein the three-dimensional oral scanner acquires a patient's oral cavity and dentition to form a digital model, the three-dimensional oral scanner inputs the digital model into the guide plate maker, the guide plate maker correspondingly makes a guide plate 1 according to the digital model, the multi-degree-of-freedom robot arm 2 is mounted on the guide plate 1, an ultrasonic working end 3 and a micro camera 4 are provided on the multi-degree-of-freedom robot arm 2, the guide plate 1 is fixed on the dentition of the patient, the multi-degree-of-freedom robot arm and the mobile terminal control device are connected, the multi-degree-of-freedom robot arm 2 is started, the micro camera identifies the site on the dentition of the patient that is affected by a dental plaque indicator, the multi-freedom-degree mechanical arm 2 correspondingly drives the ultrasonic working end 3 to clean the tooth surface of a patient to finish automatic full-mouth tooth cleaning, the three-dimensional oral scanner can adopt an oral scanning device in the existing line laser beam, infrared light and other scanning detection modes, the guide plate maker can be an existing material adding or material subtracting type guide plate forming device, the multi-freedom-degree mechanical arm can be an existing small multi-shaft mechanical arm, the multi-freedom-degree mechanical arm is connected with the guide plate through a conventional bolt connection, a buckle connection and other structures, the guide plate is easy to correspondingly process the connection structure and is easy to install and operate, the ultrasonic working end adopts a conventional ultrasonic tooth cleaner, the ultrasonic working end 3 and the miniature camera 4 can be respectively arranged at two sides of the tail end of the multi-freedom-degree mechanical arm, the mobile terminal control equipment is an existing terminal equipment, through truckle or portable structure, make things convenient for doctor to remove near patient's body when carrying out ultrasonic wave tooth cleaning operation, establish with miniaturized multi freedom robot arm of arranging in the oral cavity through modes such as wired or wireless behind, the situation when tooth cleaning is carried out to the dental plaque place and the ultrasonic wave working end of patient's tooth is directly perceived through the display, and through the operation of button, input mode operation many free robot arms such as touch-sensitive screen, the ultrasonic wave working end, miniature camera head, only need utilize multi freedom robot arm automatic accurate operation from this to carry out tooth cleaning operation, need not staff's labour, greatly reduced labor, adapt to the narrow and small space in oral cavity well, more observe, promote patient's comfort level and tooth cleaning experience greatly.
The guide plate maker is a 3D printer, and the guide plate in the form of a wrapped material is printed directly according to a digital model through the 3D printer, so that the guide plate maker is very convenient, and can provide enough structural strength and size precision.
The multi-degree-of-freedom robot arm is provided with a battery, the multi-degree-of-freedom robot arm is in wireless connection with the mobile terminal control device, the multi-degree-of-freedom robot arm is charged through a charging interface before and after use, sufficient electric quantity of the battery is ensured, accordingly, electric energy is supplied to work of a servo motor, an ultrasonic working end, a miniature camera and the like in the multi-degree-of-freedom robot arm, power supply through a power supply line is not needed, operation is realized with the mobile terminal control device in a wireless communication mode such as WiFi and Bluetooth, and connection or pulling of wires, which affect connection of the multi-degree-of-freedom robot arm and a guide plate, and tooth cleaning operation can be avoided.
Referring to fig. 2, for example, the multiple degree of freedom robot arm is further provided with a light source 5, so as to further improve the recognition effect of the miniature camera in the oral cavity during working, and the light source may be a common small LED light source, so that the multiple degree of freedom robot arm is conveniently installed at multiple positions.
Referring to fig. 2, an exemplary multi-degree-of-freedom robot arm is further provided with a suction head 6, when the ultrasonic working end performs tooth cleaning, dental calculus, liquid and the like can be sucked away quickly through the suction head, so that cleaning effect is improved, feeling of a patient is improved, and compared with the conventional operation of hanging a suction tube at the mouth of the patient, the multi-degree-of-freedom robot arm is more efficient and comfortable.
Referring to fig. 2, the guide plate 1 is exemplarily provided with an integrally formed bite block 11, and the bite block 11 is extended to the maxillary dentition, so that flaring is stably achieved, and the guide plate 1 and the bite block 11 are simultaneously formed by the guide plate maker to be well adapted to the oral cavity of a human body.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and substitutions can be made by those skilled in the art without departing from the technical principles of the present invention, and these modifications and substitutions should also be considered as being within the scope of the present invention.
Claims (6)
1. An automated dental cleaning system, characterized by: the multifunctional dental cleaning device comprises a three-dimensional oral cavity scanner, a guide plate maker, a multi-degree-of-freedom robot arm and mobile terminal control equipment, wherein a digital model is formed by acquiring oral cavities and dental columns of a patient through the three-dimensional oral cavity scanner, the digital model is input into the guide plate maker through the three-dimensional oral cavity scanner, the guide plate maker correspondingly makes a guide plate according to the digital model, the multi-degree-of-freedom robot arm is installed on the guide plate, an ultrasonic working end and a miniature camera are arranged on the multi-degree-of-freedom robot arm, the guide plate is fixed on the dental columns of the patient, the multi-degree-of-freedom robot arm is connected with the mobile terminal control equipment, the multi-degree-of-freedom robot arm is started, the dental surfaces of the patient are correspondingly driven by the multi-degree-of-freedom robot arm to clean the dental surfaces of the patient through dental plaque indicator, and automatic full-mouth dental cleaning is completed.
2. An automated dental cleaning system according to claim 1, characterized in that: the guide plate maker is a 3D printer.
3. An automated dental cleaning system according to claim 1, characterized in that: the multi-freedom-degree robot arm is internally provided with a battery and is in wireless connection with the mobile terminal control equipment.
4. An automated dental cleaning system according to any of claims 1-3, characterized in that: and a lamp source is further arranged on the multi-degree-of-freedom robot arm.
5. An automated dental cleaning system according to any of claims 1-3, characterized in that: and a suction head is further arranged on the multi-degree-of-freedom robot arm.
6. An automated dental cleaning system according to any of claims 1-3, characterized in that: the guide plate is provided with an integrally formed bite pad, and the bite pad extends to the maxillary dentition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310494900.5A CN116492093A (en) | 2023-05-04 | 2023-05-04 | Automatic change clean tooth system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310494900.5A CN116492093A (en) | 2023-05-04 | 2023-05-04 | Automatic change clean tooth system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116492093A true CN116492093A (en) | 2023-07-28 |
Family
ID=87329998
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310494900.5A Pending CN116492093A (en) | 2023-05-04 | 2023-05-04 | Automatic change clean tooth system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116492093A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105395295A (en) * | 2015-11-24 | 2016-03-16 | 张海钟 | Robot system for treating oral cavity and teeth |
| CN106725951A (en) * | 2016-12-28 | 2017-05-31 | 张雨同 | A kind of prophy device and the water toothpick with splash-proof camera function |
| CN107625559A (en) * | 2017-08-16 | 2018-01-26 | 李海川 | A kind of intelligent dental medical apparatus and its control method |
| CN110123454A (en) * | 2018-02-02 | 2019-08-16 | 布瑞肯姆公司 | Medical robot work station |
| CN110313997A (en) * | 2019-07-05 | 2019-10-11 | 四川大学 | Tooth preparation surgical guide and preparation method thereof, system, application method |
| WO2020045726A1 (en) * | 2018-08-28 | 2020-03-05 | 주식회사 디오 | Preparation guide for automatic preparation and oral fixing device |
| CN112932716A (en) * | 2021-01-27 | 2021-06-11 | 李祥伟 | Periodontal scaling robot |
-
2023
- 2023-05-04 CN CN202310494900.5A patent/CN116492093A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105395295A (en) * | 2015-11-24 | 2016-03-16 | 张海钟 | Robot system for treating oral cavity and teeth |
| CN106725951A (en) * | 2016-12-28 | 2017-05-31 | 张雨同 | A kind of prophy device and the water toothpick with splash-proof camera function |
| CN107625559A (en) * | 2017-08-16 | 2018-01-26 | 李海川 | A kind of intelligent dental medical apparatus and its control method |
| CN110123454A (en) * | 2018-02-02 | 2019-08-16 | 布瑞肯姆公司 | Medical robot work station |
| WO2020045726A1 (en) * | 2018-08-28 | 2020-03-05 | 주식회사 디오 | Preparation guide for automatic preparation and oral fixing device |
| CN110313997A (en) * | 2019-07-05 | 2019-10-11 | 四川大学 | Tooth preparation surgical guide and preparation method thereof, system, application method |
| CN112932716A (en) * | 2021-01-27 | 2021-06-11 | 李祥伟 | Periodontal scaling robot |
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