CN209032678U - A kind of dental handpiece suitable for robotic surgery - Google Patents

A kind of dental handpiece suitable for robotic surgery Download PDF

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Publication number
CN209032678U
CN209032678U CN201820982151.5U CN201820982151U CN209032678U CN 209032678 U CN209032678 U CN 209032678U CN 201820982151 U CN201820982151 U CN 201820982151U CN 209032678 U CN209032678 U CN 209032678U
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CN
China
Prior art keywords
head
gear
axis
drill bit
handle
Prior art date
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Active
Application number
CN201820982151.5U
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Chinese (zh)
Inventor
王利峰
刘洪澎
沈晨
任建勇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yak Wisdom (beijing) Technology Co Ltd
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Yak Wisdom (beijing) Technology Co Ltd
Priority date (The priority date 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 date listed.)
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Publication date
Application filed by Yak Wisdom (beijing) Technology Co Ltd filed Critical Yak Wisdom (beijing) Technology Co Ltd
Priority to CN201820982151.5U priority Critical patent/CN209032678U/en
Priority to PCT/CN2019/085481 priority patent/WO2020001160A1/en
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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C1/00—Dental machines for boring or cutting ; General features of dental machines or apparatus, e.g. hand-piece design
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C3/00—Dental tools or instruments
    • A61C3/02—Tooth drilling or cutting instruments; Instruments acting like a sandblast machine
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear

Abstract

The utility model relates to the field of medical instrument technology, provide a kind of dental handpiece suitable for robotic surgery.The dental handpiece includes handle, head and drill bit, and one end of head is connect with the handle, the other end is equipped with drill bit；The axis collinear of the axis of the head and the handle, the axis of the drill bit are vertical with the axis of the head.The utility model structure is simple, install convenient, by the way that head and handle are coaxially disposed, keep the axis of drill bit vertical with the axis of head simultaneously, it may be reduced by the variable in drill tip position coordinates calculation formula, and then substantially reduce the positioning difficulty of drill tip, make the abscissa of drill tip that this variable of the length of drill bit only be needed just to can determine, while making the ordinate of drill tip that the two variables of the length of handle and head only be needed just to can determine.In addition, by the way that head and handle are coaxially disposed, so that it may reduce the difficulty of processing of entire dental handpiece, and then the mismachining tolerance of its all parts also just substantially reduces therewith.

Description

A kind of dental handpiece suitable for robotic surgery
Technical field
The utility model relates to the field of medical instrument technology more particularly to a kind of dentistry hands suitable for robotic surgery Machine.
Background technique
Dental handpiece is the tool for clinically being used to cut tooth, drilled and polished.Currently, doctor is using tooth It is usually all that directly hand-held dental handpiece carries out drilled hole polishing to the tooth of patient when section's mobile phone treats patient.Due to entirely controlling During treatment, doctor needs long-time croucs to operate, and working strength is very big, therefore in order to mitigate the working strength of doctor, Relevant operation is carried out using robot gribing dental handpiece.
But when using robot manipulation, need to obtain the position of drill tip in real time.And it is grasped manually for the ease of doctor Make, usually with 20 ° or so of angle between the axis of the head of existing dental handpiece and the axis of handle, therefore drill bit The calculation formula of terminal position coordinate is sufficiently complex.For example, as shown in Figure 1, when using 1 bottom end of handle as coordinate origin, drill bit End P1Abscissa x1With ordinate y1Theoretical value can be calculated respectively by following formula:
x1=t1cosθ-l1sinθ (1)；
y1=l0+l1cosθ+t1sinθ (2)；
Wherein, l0Indicate the length of handle 1, l1Indicate the length of head 2, t1Indicate the length of drill bit, θ indicates handle 1 Angle between axis and the axis of head 2.Linear equation where the axis of drill bit as a result, are as follows:
Y=xtan θ+l0+l1cosθ+l1sinθtanθ (3)；
Due to there is angle, therefore dental handpiece in the fabrication process can not between the handle 1 and head 2 of dental handpiece The meeting avoided generates mismachining tolerance.When the parameter in above-mentioned formula generates error, the calculating of the terminal position coordinate of drill bit Formula is with regard to increasingly complex, specifically, the abscissa x of drill tip1' and ordinate y1' actual value can pass through following formula respectively It calculates:
Wherein,Indicate the error amount of the length of handle 1,Indicate the error amount of the length of head 2,It indicates to bore The error amount of the length of head, ΔθIndicate the error amount of the angle between the axis of handle 1 and the axis of head 2.
Summary of the invention
It is to be solved in the utility model be drilling machine terminal position coordinate in the prior art calculation formula it is complicated, be not easy to it is fixed The technical issues of position.
To solve the above problems, the utility model provides a kind of dental handpiece suitable for robotic surgery, the dentistry Mobile phone includes handle, head and drill bit, and one end of the head is connect with the handle, the other end is equipped with the drill bit；It is described The axis collinear of the axis of head and the handle, the axis of the drill bit are vertical with the axis of the head.
Wherein, further include the retarder being arranged in the handle and the drive bevel gear being arranged in the head and Driven wheel of differential；Offer jack on the side wall on the top of the head, the first end of the drill bit is plugged in the jack, Second end is stuck in the head；The driven wheel of differential is arranged in the first end of the drill bit, the drive bevel gear with The driven wheel of differential engagement, the drive bevel gear are connect by transmission shaft with the retarder.
Wherein, the axis of the drive bevel gear is vertical with the axis of the driven wheel of differential.
Wherein, the retarder includes the first retarder and the second retarder, and first retarder slows down by second Device and the transmission axis connection.
Wherein, first retarder includes the first ring gear and the first planet for being arranged in first ring gear Wheel, first planet carrier, the first sun gear and shaft；First sun gear is fixed in the shaft, first planetary gear Between first ring gear and first sun gear, and first planetary gear respectively with first ring gear and The first sun gear engagement；First planetary gear is rotatably coupled to one end of the first planet carrier, and described first The other end of planetary gear is connect with second retarder.
Wherein, second retarder includes the second ring gear and the second planet for being arranged in second ring gear Wheel, the second planet carrier and the second sun gear；Second sun gear is connect with the first planet carrier, second planetary gear position Between second ring gear and second sun gear, and second planetary gear respectively with second ring gear and institute State the engagement of the second sun gear；Second planetary gear is rotatably coupled to one end of second planet carrier, second row The other end of carrier and the transmission axis connection.
The utility model structure is simple, install convenient, by the way that head and handle to be coaxially disposed, while making the axis of drill bit It is vertical with the axis of head, so that it may to reduce the variable in drill tip position coordinates calculation formula, and then substantially reduce drill bit end The positioning difficulty at end makes the abscissa of drill tip that this variable of the length of drill bit only be needed just to can determine, while keeping drill bit last The ordinate at end only needs the two variables of the length of handle and head just to can determine.In addition, by the way that head is coaxially set with handle Set, so that it may reduce the difficulty of processing of entire dental handpiece, and then in the dental handpiece all parts mismachining tolerance also just therewith Substantially reduce.
Detailed description of the invention
Fig. 1 is the front view of dental handpiece in the prior art；
Fig. 2 is the front view for the dental handpiece that one of the utility model embodiment is suitable for robotic surgery；
Fig. 3 is the side view for the dental handpiece that one of the utility model embodiment is suitable for robotic surgery；
Fig. 4 is the cross-sectional view for the dental handpiece that one of the utility model embodiment is suitable for robotic surgery.
Appended drawing reference:
1, handle；2, head；3, drill bit；4, driven wheel of differential；5, drive bevel gear；
6, transmission shaft；7, the first sun gear；8, the first planetary gear；9, the first ring gear；
10, first planet carrier；11, the second sun gear；12, the second planetary gear；
13, the second ring gear；14, the second planet carrier.
Specific embodiment
To keep the purposes, technical schemes and advantages of utility model clearer, below in conjunction with the attached drawing in utility model, Technical solution in utility model is explicitly described, it is clear that described embodiment is that utility model a part is implemented Example, instead of all the embodiments.Based on the embodiment in utility model, those of ordinary skill in the art are not making creation Property labour under the premise of every other embodiment obtained, belong to the range of utility model protection.
In the description of the present invention, unless otherwise indicated, the orientation of the instructions such as term " on ", "lower", "top", "bottom" Or positional relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description the utility model and simplification is retouched It states, rather than the device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation, Therefore it should not be understood as limiting the present invention.
It should be noted that unless otherwise clearly defined and limited, term " connection " shall be understood in a broad sense, for example, can To be to be fixedly connected, may be a detachable connection, or be integrally connected；It can be directly connected, intermediate matchmaker can also be passed through Jie is indirectly connected.For the ordinary skill in the art, it can understand above-mentioned term in utility model with concrete condition Concrete meaning.
As shown in Figures 2 and 3, the utility model provides a kind of dental handpiece suitable for robotic surgery, the dentistry Mobile phone includes handle 1, head 2 and drill bit 3, and one end of head 2 is connect with handle 1, the other end is equipped with drill bit 3；The axis of head 2 It is vertical with the axis of head 2 with the axis of the axis collinear of handle 1, drill bit 3, that is to say, that the axis of drill bit 3 and handle 1 Axis is vertical.
As a result, when using the bottom end of handle 1 as coordinate origin, the end of terminal position, that is, drill bit 3 of drill bit 3 on dental handpiece Hold P0Abscissa x0With ordinate y0Theoretical value can be calculated respectively by following formula:
x0=t1(6)；
y0=l (7)；
Wherein, l=l0+l1, l0Indicate the length of handle 1, l1Indicate the length of head 2, t1Indicate the length of drill bit 3.
Linear equation where the axis of drill bit 3 as a result, are as follows: y=l0+l1
As it can be seen that the utility model is by the way that head 2 and handle 1 to be coaxially disposed, while making the axis and head 2 of drill bit 3 Axis is vertical, so that it may reduce the variable in 3 terminal position coordinate calculation formula of drill bit, and then substantially reduce determining for 3 end of drill bit Position difficulty, makes the abscissa of 3 end of drill bit that this variable of the length of drill bit 3 only be needed just to can determine, while making 3 end of drill bit Ordinate only needs the two variables of the length of handle 1 and head 2 just to can determine.In addition, since head 2 and handle 1 are coaxially disposed, The difficulty of processing of entire dental handpiece is greatly reduced, and then the mismachining tolerance of all parts also just drops therewith in the dental handpiece It is low.And then the mismachining tolerance of all parts can be significantly reduced.
Preferably, as shown in connection with fig. 4, which further includes the retarder being arranged in handle 1 and is arranged in machine Drive bevel gear 5 and driven wheel of differential 4 in first 2；Jack is offered on the side wall on the top of head 2, the first end of drill bit 3 is inserted It is located in jack, second end is stuck in head 2；Driven wheel of differential 4 is arranged in the first end of drill bit 3, drive bevel gear 5 with from Dynamic bevel gear 4 engages, and drive bevel gear 5 is connect by transmission shaft 6 with retarder.Due to drive bevel gear 5 and driven wheel of differential 4 intermeshing, therefore when retarder by transmission shaft 6 drive drive bevel gear 5 rotate when, driven wheel of differential 4 will with one of Rotation is played, and then drill bit 3 can be driven to rotate.
It is highly preferred that the axis of drive bevel gear 5 it is vertical with the axis of driven wheel of differential 4, to avoid drive bevel gear 5 with Driven wheel of differential 4 generates axial force when being intermeshed.
Preferably, retarder includes the first retarder and the second retarder, and the first retarder is by the second retarder and passes Moving axis 6 connect, that is to say, that the output end of the first retarder is connect with the input terminal of the second retarder, the second retarder it is defeated Outlet is connect with transmission shaft 6.
It is highly preferred that the first retarder includes the first ring gear 9 and the first planetary gear for being arranged in the first ring gear 9 8, first planet carrier 10, the first sun gear 7 and shaft；First sun gear 7 is fixed in shaft, and the first planetary gear 8 is located at first Between ring gear 9 and the first sun gear 7, and the first planetary gear 8 is engaged with the first ring gear 9 and the first sun gear 7 respectively；First Planetary gear 8 is rotatably coupled to one end of first planet carrier 10, and the other end of first planet carrier 10 is connect with the second retarder. Further, the second retarder includes the second ring gear 13 and the second planetary gear 12 being arranged in the second ring gear 13, Two planet carriers 14 and the second sun gear 11；Second sun gear 11 is connect with first planet carrier 10, and the second planetary gear 12 is located at second Between ring gear 13 and the second sun gear 11, and the second planetary gear 12 is nibbled with the second ring gear 13 and the second sun gear 11 respectively It closes；Second planetary gear 12 is rotatably coupled to one end of the second planet carrier 14, the other end and transmission shaft 6 of the second planet carrier 14 Connection.
Since the first sun gear 7 and the first planetary gear 8 are intermeshed, therefore when shaft drives the rotation of the first sun gear 7 When, the first planetary gear 8 will rotate together under the driving of the first sun gear 7, and then first planet carrier 10 is driven to rotate；With this Meanwhile the second sun gear 11 connecting with first planet carrier 10 can also rotate with it, and can drive 12 He of the second planetary gear in turn The rotation of second planet carrier 14, and the second planet carrier 14 can drive transmission shaft 6 to rotate.
Finally, it should be noted that above embodiments are only to illustrate the technical solution of utility model, rather than its limitations；To the greatest extent Pipe utility model is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: its according to It is so possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is equally replaced It changes；And these are modified or replaceed, each embodiment technical solution of utility model that it does not separate the essence of the corresponding technical solution Spirit and scope.

Claims (6)

1. a kind of dental handpiece suitable for robotic surgery, which is characterized in that including handle, head and drill bit, the head One end connect with the handle, the other end be equipped with the drill bit；The axis collinear of the axis of the head and the handle, institute The axis for stating drill bit is vertical with the axis of the head.
2. the dental handpiece according to claim 1 suitable for robotic surgery, which is characterized in that further include being arranged in institute State the retarder in handle and the drive bevel gear being arranged in the head and driven wheel of differential；The top of the head Jack is offered on side wall, the first end of the drill bit is plugged in the jack, second end is stuck in the head；It is described from Dynamic bevel gear is arranged in the first end of the drill bit, and the drive bevel gear is engaged with the driven wheel of differential, the active Bevel gear is connect by transmission shaft with the retarder.
3. the dental handpiece according to claim 2 suitable for robotic surgery, which is characterized in that the drive bevel gear Axis it is vertical with the axis of the driven wheel of differential.
4. the dental handpiece according to claim 2 suitable for robotic surgery, which is characterized in that the retarder includes First retarder and the second retarder, first retarder pass through the second retarder and the transmission axis connection.
5. the dental handpiece according to claim 4 suitable for robotic surgery, which is characterized in that first retarder Including the first ring gear and the first planetary gear being arranged in first ring gear, first planet carrier, the first sun gear and Shaft；First sun gear is fixed in the shaft, and first planetary gear is located at first ring gear and described the Between one sun gear, and first planetary gear is engaged with first ring gear and first sun gear respectively；Described One planetary gear is rotatably coupled to one end of the first planet carrier, and the other end of first planetary gear subtracts with described second Fast device connection.
6. the dental handpiece according to claim 5 suitable for robotic surgery, which is characterized in that second retarder Including the second ring gear and the second planetary gear being arranged in second ring gear, the second planet carrier and the second sun gear； Second sun gear is connect with the first planet carrier, and second planetary gear is located at second ring gear and described second Between sun gear, and second planetary gear is engaged with second ring gear and second sun gear respectively；Described second Planetary gear is rotatably coupled to one end of second planet carrier, and the other end and the transmission shaft of second planet carrier connect It connects.
CN201820982151.5U 2018-06-25 2018-06-25 A kind of dental handpiece suitable for robotic surgery Active CN209032678U (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201820982151.5U CN209032678U (en) 2018-06-25 2018-06-25 A kind of dental handpiece suitable for robotic surgery
PCT/CN2019/085481 WO2020001160A1 (en) 2018-06-25 2019-05-05 Dental handpiece suitable for robotic surgery

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201820982151.5U CN209032678U (en) 2018-06-25 2018-06-25 A kind of dental handpiece suitable for robotic surgery

Publications (1)

Publication Number Publication Date
CN209032678U true CN209032678U (en) 2019-06-28

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ID=67029141

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201820982151.5U Active CN209032678U (en) 2018-06-25 2018-06-25 A kind of dental handpiece suitable for robotic surgery

Country Status (2)

Country Link
CN (1) CN209032678U (en)
WO (1) WO2020001160A1 (en)

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AUPP401998A0 (en) * 1998-06-10 1998-07-02 Hunter, Frank A dental prophylaxis handpiece
CN201510366U (en) * 2009-10-21 2010-06-23 尹蓓莉 Novel optical-fiber enginebit cellphone
CN201658424U (en) * 2010-02-05 2010-12-01 赵增禄 Convenient dental handpiece
CN202342205U (en) * 2011-04-28 2012-07-25 宁静瑶 Recyclable plastic dental handpiece
CN203506896U (en) * 2013-08-07 2014-04-02 陕西逸夫美疗科技有限公司 Dental handpiece
CN203598058U (en) * 2013-12-06 2014-05-21 余礼建 Dental mobile phone
CN206499534U (en) * 2016-08-10 2017-09-19 李炼成 A kind of shadowless lamp dental handpiece
CN107595418A (en) * 2017-09-15 2018-01-19 杭州术康医疗科技有限公司 A kind of automatic planting dentistry robot

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