JP2016198191A - Dental treatment device and driving method thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a dental treatment device capable of performing drive control for a cutting tool that can cut a root canal of a tooth irrespective of a type of the cutting tool attached to a head part.SOLUTION: In a dental treatment device, a control unit performs twist drive, normal rotation drive, and reverse rotation drive at least once for each drive in a prescribed period. The control unit further executes control so that an accumulative normal rotation angle that is an accumulation of the rotation angle in a clockwise direction of the twist drive and the normal rotation drive becomes the same as an accumulative reverse rotation angle that is an accumulation of the rotation angle in an anti-clockwise direction of the twist drive and the reverse rotation drive.SELECTED DRAWING: Figure 8

Description

  The present invention relates to a dental treatment apparatus including a handpiece, and more particularly, to a dental treatment apparatus that cuts and enlarges an inner wall of a root canal of a tooth and a driving method thereof.

  In the dental treatment, a treatment for cutting and expanding the root canal of the tooth may be performed. In the treatment, a dental treatment device in which a cutting tool called a file or a reamer is attached to the head portion of the handpiece is used to cut and expand the root canal of the tooth by driving the cutting tool. Various drive controls (for example, Patent Document 1 and Patent Document 2) have been proposed as drive control in which a dental treatment apparatus drives a cutting tool to cut and expand a root canal of a tooth.

  In the dental treatment device disclosed in Patent Document 1, the motor is driven forward or backward in accordance with the state of the rotation direction changeover switch, and the rotation of the cutting tool is forwardly rotated (clockwise or clockwise) or reverse. (Counterclockwise, counterclockwise) In addition, the dental treatment device disclosed in Patent Document 1 includes a load torque detection resistor that detects a load applied to the cutting tool. When the detected load reaches a preset reference, the motor is rotated forward. Switching to reverse rotation, the rotation of the cutting tool is controlled from normal rotation to reverse rotation.

  In the dental treatment apparatus disclosed in Patent Document 2, cutting is performed by rotating the cutting tool clockwise by a first rotation angle, and then rotating the cutting tool counterclockwise by a second rotation angle. So that it is controlled. Furthermore, in the dental treatment apparatus disclosed in Patent Document 2, the first rotation angle is the second rotation angle so that the substance from the root canal surface is discharged when the cutting tool advances in the root canal. It is controlled to become larger than.

Japanese Patent No. 3264607 Special table 2003-504113 gazette

  In the dental treatment apparatus, there are various driving controls of the cutting tool, and the cutting tool for rotating right is formed by turning the cutting tool clockwise (clockwise), and a counterclockwise rotation tool (clockwise) There is a counterclockwise cutting tool in which a blade for cutting a workpiece by turning counterclockwise is formed. Therefore, the user of the dental treatment device considers whether the cutting tool attached to the head part of the handpiece is a right-turning cutting tool or a left-turning cutting tool, and selects drive control suitable for the attached cutting tool. It was necessary and the work was complicated. Here, the direction in which the cutting tool is turned (clockwise (clockwise), counterclockwise (counterclockwise)) is considered based on the direction of the cutting tool tip from the side of the cutting tool attached to the head. To do.

  In addition, the cutting tool has a needle shape with a length of about several tens of millimeters. If the user looks at the shape of the blade formed on the surface, the cutting tool is either a clockwise rotating tool or a counterclockwise cutting tool. It was difficult to distinguish. In Patent Document 1, normal rotation means rotation in a direction in which the cutting ability of the cutting tool can be exerted, usually clockwise (clockwise). Similarly, reverse rotation means cutting of the cutting tool. Rotating in a direction where the ability cannot be exerted, usually counterclockwise (counterclockwise).

  In recent years, in a clinical field where a dental treatment device is used, a left rotation cutting tool used in a dental treatment device disclosed in Patent Document 2 and a right rotation cutting used in a conventional dental treatment device or the like. There is a case where tools are mixed, and there is an increased risk of erroneously driving the cutting tool in a rotation direction not suitable for the cutting tool.

  The present invention has been made in order to solve the above-described problems, and can be used for dental control capable of performing drive control of a cutting tool capable of cutting a root canal of a tooth regardless of the type of cutting tool attached to the head portion. It is an object of the present invention to provide a treatment apparatus and a driving method thereof.

  A dental treatment device according to the present invention includes a handpiece that holds a cutting tool in a drivable manner at a head portion, a driving portion that drives a cutting tool held by the head portion, and a driving portion that controls the cutting tool. Is controlled to either forward rotation that rotates the tool clockwise, reverse drive that rotates the cutting tool counterclockwise, or twist drive that rotates the cutting tool alternately in the clockwise and counterclockwise directions. A control unit, and the control unit performs each of the twist drive, the forward rotation drive, and the reverse drive at least once in a predetermined period, and the drive amount of the twist drive and the forward drive in the clockwise direction Control is performed so that the positive cumulative drive amount obtained by accumulating and the reverse cumulative drive amount obtained by accumulating the drive amounts in the counterclockwise direction of twist drive and reverse drive are the same. The twist drive referred to here may be one in which alternating rotations in the clockwise direction and the counterclockwise direction are performed at equal drive amounts, or may be performed by different drive amounts.

  Preferably, the control unit controls the drive so that the drive amount in the clockwise direction in the twist drive and the drive amount in the counterclockwise direction in the twist drive are the same.

  Preferably, the control unit controls the drive so that the forward drive and the clockwise drive of the twist drive are continued, and the reverse drive and the counterclockwise drive of the twist drive are continued. To control the drive.

  Preferably, the control unit performs control so as to alternately drive twist drive and forward drive or reverse drive.

  Preferably, the control unit controls the drive so that the maximum difference between the forward cumulative drive amount and the reverse cumulative drive amount is equal to or less than a predetermined angle within a predetermined period.

  Preferably, a load detection unit that detects a load applied to the cutting tool is further provided, and the control unit determines a cutting rotation direction in which the cutting tool cuts the cutting object based on the load applied to the cutting tool detected by the load detection unit. To do.

  Preferably, the control unit controls the determined drive to a normal rotation drive if the determined cutting rotation direction is clockwise, and reverses the determined drive if the determined cutting rotation direction is counterclockwise. Control to drive.

  Preferably, the control unit is driven or rotated so that the rotation of the cutting tool is opposite to the rotation direction of cutting for cutting the object to be cut when the load applied to the cutting tool detected by the load detecting unit is equal to or higher than the reference load. The drive is controlled so as to stop the rotation of the cutting tool.

  Preferably, the apparatus further includes a position detection unit that detects a position of the tip of the cutting tool obtained by electrical root canal length measurement in the root canal, and the control unit has reached a reference position at a position detected by the position detection unit. In this case, the driving is controlled so that the rotation of the cutting tool is in the direction opposite to the cutting rotation direction for cutting the object to be cut or the rotation of the cutting tool is stopped.

  Preferably, the apparatus further includes a position detection unit that detects a position in the root canal of the tip of the cutting tool obtained by electrical root canal length measurement, and the control unit performs a reference load according to the position detected by the position detection unit. To change.

  Preferably, the information processing apparatus further includes a notification unit that notifies the user whether the cutting rotation direction determined by the control unit is a clockwise direction or a counterclockwise direction.

  Another dental treatment apparatus according to the present invention controls a handpiece that holds a cutting tool in a drivable manner at a head portion, a driving portion that drives a cutting tool held by the head portion, and a driving portion. And a control unit that controls driving for rotating the cutting tool in a clockwise direction or a counterclockwise direction, and the control unit rotates the cutting tool in the clockwise direction by a first driving amount and then rotates counterclockwise. The number of times of the first twist drive drive that rotates the second drive amount smaller than the first drive amount in the direction, and the cutting tool is rotated counterclockwise and then the first drive amount is rotated clockwise. The drive is controlled so that the number of times of the drive of the series of the second twist drive for rotating the second drive amount is the same.

  A method for driving a dental treatment apparatus according to the present invention is a method for driving a dental treatment apparatus that drives a cutting tool held by a head part of a handpiece, and is a forward rotation drive that rotates the cutting tool in a clockwise direction. The cutting tool can be driven by any one of a reverse driving for rotating the cutting tool in the counterclockwise direction and a twist driving for alternately rotating the cutting tool in the clockwise direction and the counterclockwise direction. In the given period, each of the twist drive, the forward drive and the reverse drive is performed at least once, and the positive cumulative drive amount obtained by accumulating the clockwise drive amount of the twist drive and the forward drive, and the twist drive and Driving is performed such that the reverse cumulative drive amount obtained by accumulating the reverse drive counterclockwise drive amount is the same.

  Still another dental treatment apparatus according to the present invention controls a handpiece that holds a cutting tool in a drivable manner at a head portion, a driving portion that drives a cutting tool held in the head portion, and a driving portion. A control unit that controls driving for rotating the cutting tool in a clockwise direction or a counterclockwise direction, and the control unit includes a positive cumulative driving amount of the cutting tool in the clockwise direction and a cutting tool in the counterclockwise direction. Control is performed to repeatedly rotate the cutting tool in the clockwise and counterclockwise directions while eliminating the difference from the reverse cumulative drive amount.

  The dental treatment apparatus according to the present invention includes a positive cumulative drive amount obtained by accumulating a clockwise drive amount of twist drive and forward rotation and a counterclockwise direction of twist drive and reverse drive during a predetermined period. Since the control is performed so that the reverse cumulative driving amount obtained by accumulating the driving amount is the same, the driving control of the cutting tool capable of cutting the root canal of the tooth can be performed regardless of the type of the cutting tool attached to the head portion. Moreover, in the dental treatment apparatus according to the present invention, it is not necessary to confirm the cutting direction of the cutting tool and to set the rotation direction of the cutting tool.

It is the schematic which shows the structure of the external appearance of the root canal treating device which concerns on Embodiment 1 of this invention. It is a block diagram which shows the structure of the function of the root canal treating device which concerns on Embodiment 1 of this invention. It is a circuit diagram which shows the circuit structure of the root canal treating device which concerns on Embodiment 1 of this invention. It is the schematic diagram which showed the rotation direction of the cutting tool. It is a figure which shows the example of a display of the liquid crystal display panel provided in the display part shown in FIG. It is a figure for demonstrating the rotation direction of the cutting tool which the root canal treating device which concerns on Embodiment 1 of this invention drive-controls. It is a figure for demonstrating the rotation direction of the cutting tool which the root canal treating device which concerns on Embodiment 1 of this invention drive-controls. It is a figure for demonstrating the change of the cumulative rotation angle of the cutting tool which the root canal treating device which concerns on Embodiment 1 of this invention drive-controls. 7 is a flowchart for explaining control for switching between driving by identifying whether a cutting tool is a right-turning cutting tool or a left-turning cutting tool in a root canal treating device according to a second embodiment of the present invention. It is a flowchart for demonstrating the control which prevents the failure | damage of a cutting tool in the root canal treating device which concerns on Embodiment 2 of this invention. It is a flowchart for demonstrating control when the position of a cutting tool becomes close to a root apex in the root canal treating device which concerns on Embodiment 3 of this invention. It is a flowchart for demonstrating an example of the reference | standard load set according to the position of a cutting tool in the root canal treating device which concerns on Embodiment 3 of this invention. It is a figure for demonstrating the rotation direction of the cutting tool which the root canal treating device which concerns on the modification 1 of this invention controls. It is a figure for demonstrating the change of the cumulative rotation angle of the cutting tool which a root canal treating device concerning the modification 1 of this invention drives and controls. It is a figure for demonstrating the change of the cumulative rotation angle of the cutting tool which a root canal treating device which concerns on the modification 2 of this invention drive-controls. It is the schematic which shows the structure of a cordless type root canal treatment device.

Hereinafter, embodiments according to the present invention will be described with reference to the drawings.
(Embodiment 1)
The dental treatment apparatus according to Embodiment 1 of the present invention is a root canal treatment device including a root canal enlargement and root canal length measurement system incorporating a dental root canal treatment handpiece. However, the dental treatment device according to the present invention is not limited to a root canal treatment device, and can be applied to a dental treatment device having a similar configuration.

  FIG. 1 is a schematic diagram showing an external configuration of a root canal treating device according to Embodiment 1 of the present invention. FIG. 2 is a block diagram showing a functional configuration of the root canal treating device according to the first embodiment of the present invention. A root canal treatment device 100 shown in FIG. 1 includes a handpiece 1, a motor unit 6, and a control box 9 for dental root canal treatment.

  A dental root canal treatment handpiece 1 includes a head portion 2, a narrow neck portion 3 connected to the head portion 2, and a grip portion 4 connected to the neck portion 3 and gripped by fingers. Yes. A motor unit 6 for rotationally driving a cutting tool 5 (file or reamer or the like) held by the head unit 2 is detachably connected to the base of the grip unit 4. A dental instrument 10 is configured with the motor unit 6 connected to the handpiece 1.

  As shown in FIG. 2, the motor unit 6 has a built-in micromotor 7, a power supply lead wire 71 for supplying power to the micromotor 7, and a signal for transmitting a signal to a root canal length measuring circuit 12 described later. It is connected to the control box 9 via a hose 61 that houses a lead wire 8 and the like. Here, the signal lead 8 is part of a conductor that is electrically connected to the cutting tool 5 through the motor unit 6 and the handpiece 1 and transmits an electric signal. The cutting tool 5 serves as one electrode of the root canal length measurement circuit 12.

  The control box 9 includes a control unit 11, a comparison circuit 110, a root canal length measurement circuit 12, a motor driver 13, a setting unit 14, an operation unit 15, a display unit 16, a notification unit 17, and the like. In addition, as shown in FIG. 1, the holder 10a for hold | maintaining the instrument 10 at the time of a non-use is attached to the control box 9 at the main body side part. In the control box 9, a foot controller 18 is connected to the control unit 11, and a lead wire 19 is connected to the root canal length measuring circuit 12. The lead wire 19 is drawn from the control box 9, but may be drawn so as to branch from the middle of the hose 61. An oral electrode 19a hung on the patient's lips is attached to the tip of the lead wire 19 in an electrically conductive state. The oral electrode 19a serves as the other electrode of the root canal length measurement circuit 12.

  The control unit 11 controls the entire root canal enlargement and root canal length measurement system, and the main part is composed of a microcomputer. A comparison circuit 110, a root canal length measurement circuit 12, a motor driver 13, a setting unit 14, an operation unit 15, a display unit 16, a notification unit 17, and a foot controller 18 are connected to the control unit 11. The control unit 11 controls the rotation direction of the cutting tool 5 that cuts the object to be cut. Specifically, the control unit 11 rotates forwardly to rotate the cutting tool 5 in a clockwise (also referred to as clockwise) direction, reverse rotation drive to rotate the cutting tool 5 in a counterclockwise (also referred to as counterclockwise) direction, and Any one of twist drive control for alternately rotating the cutting tool 5 in the clockwise direction and the counterclockwise direction is performed. Here, the direction in which the cutting tool is rotated (clockwise direction or counterclockwise direction) is considered based on the case where the cutting tool 5 is attached to the head unit 2 from the cutting tool 5 side. Further, the control unit 11 changes the parameters of the clockwise rotation amount, rotation speed, or rotation angular velocity (number of rotations), counterclockwise rotation amount, rotation speed, or rotation angular velocity to change the cutting tool 5. The drive to be rotated can be controlled.

  Here, the rotation amount is an amount representing the magnitude of turning the cutting tool 5 in the clockwise direction or the counterclockwise direction. For example, the rotation time when the rotation angle, the number of rotations, and the rotation speed are constant (drive period) It is also an amount represented by. Furthermore, as an amount representing the magnitude of turning the cutting tool 5 clockwise or counterclockwise, the cutting tool 5 is driven such as the amount of drive current or torque for turning the cutting tool 5 clockwise or counterclockwise. In the present embodiment, the driving amount is defined as a generic term including the rotation amount and the amount related to driving. In the following description, the rotation amount is used for explanation, but it may be replaced with a drive amount. Regarding the rotation amount, the rotation angle, the number of rotations, the rotation time, and the like have a corresponding relationship. For example, setting the number of rotations of the cutting tool 5 to 1/2 rotation is the same as rotating the cutting tool 5 180 degrees. Further, when the rotational speed of the cutting tool 5 is constant at 120 times per minute, driving the cutting tool 5 for 0.25 seconds is the same as rotating the cutting tool 5 180 degrees. Furthermore, the rotation angular velocity is an amount representing the rotation speed of the cutting tool 5 and is the number of rotations per hour by dividing by 2π radians. Strictly speaking, depending on the load applied to the cutting tool or the motor, for example, there is a case where the correspondence relationship between the control rotation time and the actual rotation angle has to be corrected. can do. In the following embodiments, the rotation speed of the cutting tool 5 is expressed using the rotation speed instead of using the rotation angular velocity. Note that revolutions per minute (rpm) is used as the unit of the number of revolutions.

  The comparison circuit 110 compares the load at any time when the cutting tool 5 is rotated clockwise or counterclockwise by the motor driver 13. Specifically, the comparison circuit 110 compares the load applied to the cutting tool 5 with a reference load after the cutting tool 5 is rotated 180 degrees clockwise or counterclockwise.

  Note that the timing of comparing the load in the comparison circuit 110 is limited to the timing at which the cutting tool 5 is rotated by the motor driver 13 in a clockwise direction or a counterclockwise direction by a predetermined rotation angle or driving period (rotation time). I can't. The timing at which the comparison circuit 110 compares the load applied to the cutting tool 5 with the reference load may be any timing. For example, the timing at which the load is compared in the comparison circuit 110 may be compared every time the cutting tool 5 is rotated once, or may be compared three times while the cutting tool 5 is rotated once. Further, even when the timing of comparing the load in the comparison circuit 110 is defined by the amount of current or voltage supplied from the motor driver 13 to the micromotor 7, it is defined by the value of the control signal supplied to the motor driver 13, etc. May be.

  The root canal length measurement circuit 12 forms a closed circuit with the cutting tool 5 inserted into the root canal of the tooth as one electrode and the oral electrode 19a hung on the patient's lip as the other electrode. Then, the root canal length measurement circuit 12 applies a voltage between the cutting tool 5 and the oral electrode 19a, and measures the impedance between the cutting tool 5 and the oral electrode 19a, thereby detecting the root apex position of the tooth. The distance to the tip of the cutting tool 5 can be measured. When the root canal length measurement circuit 12 detects that the tip of the cutting tool 5 has reached the apex position, the amount of insertion of the cutting tool, that is, the distance from the root canal opening to the tip of the cutting tool is set as the root canal length. Can do. In addition, the electrical root canal length measuring method for measuring the impedance between the cutting tool 5 and the oral electrode 19a and measuring the root canal length is a known method, and the root canal treatment device 100 according to the first embodiment. Any known electrical root canal length measurement method can be applied to the method.

  The motor driver 13 is connected to the micromotor 7 via the power supply lead wire 71 and controls the power supplied to the micromotor 7 based on a control signal from the control unit 11. The motor driver 13 controls the power supplied to the micromotor 7 to control the rotation direction, rotation speed, rotation angle, etc. of the micromotor 7, that is, the rotation direction, rotation speed, rotation angle, etc. of the cutting tool 5. Can do.

  The setting unit 14 sets a reference for controlling the rotation direction, the rotation number, the rotation angle, and the like of the cutting tool 5. The setting unit 14 sets a reference load to be compared with a load applied to the cutting tool 5 by the comparison circuit 110 and a timing to be compared. Further, the setting unit 14 can use the root canal length measurement circuit 12 to set the apex position or a position at a predetermined distance from the apex position as a reference position in advance. Note that the root canal treating device 100 sets a reference position in the setting unit 14 in advance, so that when the tip of the cutting tool 5 reaches the reference position, the rotation direction, the rotation speed, and the rotation angle of the cutting tool 5. Parameters can be changed.

  The operation unit 15 can set parameters such as whether or not to perform root canal length measurement, in addition to setting parameters for the rotation speed and rotation angle of the cutting tool 5. Further, the operation unit 15 can manually perform switching between normal rotation driving and reverse rotation driving, and switching between normal rotation driving and twist driving.

  As will be described later, the display unit 16 displays the position of the tip of the cutting tool 5 in the root canal, the rotation direction, the rotation speed, the rotation angle, and the like of the cutting tool 5. Furthermore, information for the notification unit 17 to notify the user can be displayed on the display unit 16.

  The alerting | reporting part 17 alert | reports the drive state of the cutting tool 5 currently performed by the control part 11 by light, a sound, a vibration, etc. Specifically, the notification unit 17 is provided with an LED (Light Emitting Diode), a speaker, a vibrator, or the like as necessary in order to notify the driving state of the cutting tool 5, and is driven in the forward direction and in the reverse direction. Change the color of the LED that emits light, and change the sound output from the speaker. In addition, the notification part 17 does not need to provide LED, a speaker, a vibrator | oscillator, etc. separately, when the display part 16 can display the drive state of the cutting tool 5 with respect to a user.

  The foot controller 18 is an operation unit that performs drive control of the cutting tool 5 by the micromotor 7 by a stepping operation. The drive control of the cutting tool 5 by the micromotor 7 is not limited to the foot controller 18, and an operation switch (not shown) is provided in the grip portion 4 of the handpiece 1, and the operation switch and the foot controller 18 are provided. And the drive control of the cutting tool 5 may be performed in combination. In addition, for example, when the foot controller 18 is being stepped on, the root canal length measurement circuit 12 detects that the cutting tool 5 has been inserted into the root canal, whereby the cutting tool 5 is rotated. You may make it start.

  In addition, although the control box 9 of the root canal treatment device 100 has been described with respect to a configuration in which the control box 9 is placed and used on a tray table or a side table installed on the side of the dental examination table, the present invention is not limited thereto. The control box 9 may be incorporated in the tray table or the side table.

  Next, the circuit configuration of the root canal treating device 100 that performs drive control of the cutting tool 5 will be described in more detail. FIG. 3 is a circuit diagram showing a circuit configuration of the root canal treating device 100 according to Embodiment 1 of the present invention. In the root canal treating device 100 shown in FIG. 3, the micromotor 7, the control unit 11, the comparison circuit 110, the root canal length measurement circuit 12, the motor driver 13, and the setting unit 14 related to the drive control of the cutting tool 5 are included. It is shown.

  Further, the motor driver 13 includes a transistor switch 13a, a transistor driver circuit 13b, a rotation direction changeover switch 13c, and a load detection resistor 13d. The setting unit 14 includes a variable resistor 14a for setting a reference load, a variable resistor 14b for setting a duty, and a variable resistor 14c for setting a reference position. The setting unit 14 includes a configuration for setting a rotation angle (or a rotation time) indicating a timing for comparing the load detected by the comparison circuit 110 and the reference load. The configuration is illustrated in FIG. Not shown. Further, the root canal treating device 100 shown in FIG. 3 is connected to a main power source 20 and a main switch 21. Although not shown, the cutting tool 5 is held by the micromotor 7 via an appropriate gear mechanism or the like.

  The transistor driver circuit 13b is operated by a control signal output from the port 11a of the control unit 11, and drives the micro motor 7 by controlling on / off of the transistor switch 13a. The micromotor 7 rotates clockwise or counterclockwise depending on the state of the rotation direction selector switch 13c. When the control signal output from the port 11a of the control unit 11 is, for example, a pulse waveform repeated at a constant period, the width of the pulse waveform, that is, the duty ratio is adjusted by the variable resistance 14b for setting the duty of the setting unit 14 Is done. The micromotor 7 drives the cutting tool 5 at a rotational speed corresponding to this duty ratio.

  The rotation direction change-over switch 13c is a control signal output from the port 11b of the control unit 11, and switches whether the cutting tool 5 is driven in the clockwise direction or the counterclockwise direction. The controller 11 detects the load applied to the cutting tool 5 by inputting the current amount (or voltage value) at the terminal of the load detection resistor 13d to the port 11c. Therefore, the load detection resistor 13d functions as a load detection unit that detects a load applied to the cutting tool 5. The load detection unit is not limited to a configuration that detects the load applied to the cutting tool 5 based on the amount of current (or voltage value) at the terminal of the load detection resistor 13d. For example, the drive of the cutting tool 5 is driven. Another configuration such as a configuration in which a torque sensor is provided at a portion to detect a load applied to the cutting tool 5 may be used. The detected load is converted into, for example, a torque value applied to the cutting tool 5 by the control unit 11 and displayed on the display unit 16. The comparison circuit 110 compares the torque value converted by the control unit 11 with the torque value set by the reference load setting variable resistor 14a. Of course, the comparison circuit 110 may be configured to compare the current amount (or voltage value) at the terminal of the load detection resistor 13d with the value set by the setting unit 14 without converting into a torque value.

  Further, the control unit 11 inputs the root canal length measured by the root canal length measuring circuit 12 to the port 11d. Therefore, the root canal length measurement circuit 12 functions as a position detection unit that detects the position of the tip of the cutting tool 5 in the root canal. Further, the control unit 11 outputs a load applied to the cutting tool 5 detected by the load detection resistor 13d from the port 11e to the comparison circuit 110, and inputs a comparison result compared with the reference load by the comparison circuit 110 from the port 11e. Therefore, the comparison circuit 110 functions as a load comparison unit that compares the load detected by the load detection unit with the reference load. Note that the control unit 11 may combine the configuration described in the analog circuit as software in one microcomputer.

  FIG. 4 is a schematic diagram showing the rotation direction of the cutting tool 5. In the rotation direction of the cutting tool 5 shown in FIG. 4, the driving in the clockwise direction 5 a that rotates the cutting tool 5 clockwise from the side of the cutting tool 5 attached to the head portion 2 toward the tip direction of the cutting tool 5; The driving in the counterclockwise direction 5b that rotates counterclockwise is shown. The drive that alternately performs the drive in the clockwise direction 5a and the drive in the counterclockwise direction 5b is the twist drive.

  Next, the display of the liquid crystal display panel provided in the display unit 16 illustrated in FIG. 1 will be described. FIG. 5 is a diagram showing a display example of the liquid crystal display panel provided in the display unit 16 shown in FIG.

  The display unit 16 shown in FIG. 5 is a liquid crystal display panel, and includes a dot display unit 52 including a number of elements for displaying the measured root canal length in detail, and the root canal length divided into a plurality of zones in stages. A zone display unit 54 for displaying the boundary, a boundary display unit 56 indicating the boundary of each zone, and an arrival rate display unit 58 for displaying the arrival rate up to the apex.

  The dot display unit 52 displays elements in order from top to bottom as the tip of the cutting tool 5 approaches the apex. The position of the scale “APEX” represents the position of the apex, and when the element reaches the scale, it indicates that the tip of the cutting tool 5 has almost reached the position of the apex.

  Further, the display unit 16 displays the dot display unit 60 including a large number of elements for displaying the load detected by the load detection resistor 13d (see FIG. 3), and displays the load stepwise in a plurality of zones. A zone display unit 62 is provided. The dot display unit 60 displays elements in order from top to bottom as the load detected by the load detection resistor 13d increases.

  For example, on the dot display unit 60, the load of the cutting tool 5 applied when cutting a tooth is displayed by an element 60a indicated by diagonal lines. The dot display unit 60 may have a peak hold function to prevent frequent display switching, and may display the maximum load value detected within a predetermined time for a certain period of time.

  The dot display unit 60 may display an element 60b corresponding to the reference load set by the reference load setting variable resistor 14a (see FIG. 3). By displaying the element 60b on the dot display unit 60, it is possible to visualize how much margin is present in the load detected by the load detection resistor 13d with respect to the reference load.

  Further, the display unit 16 displays a numerical value display unit 64 that displays numerical values of the rotational speed of the cutting tool 5 and the load applied to the cutting tool 5, the direction of rotation of the cutting tool 5 (clockwise direction, counterclockwise direction) A rotation display unit 68 that displays the magnitude of the rotation speed of the cutting tool 5 is provided.

  Next, driving of the cutting tool 5 of the root canal treating device 100 according to Embodiment 1 will be described. In the root canal treating device 100 according to the first embodiment, the root canal of a tooth can be cut regardless of whether the cutting tool 5 attached to the head unit 2 is a cutting tool for right rotation or a cutting tool for left rotation. The drive control of the cutting tool that can be performed (also referred to as universal drive in the present embodiment) is performed. Specifically, the control unit 11 performs drive control of the cutting tool 5 by each of twist drive, forward rotation drive, and reverse rotation drive during a predetermined period. Then, the control unit 11 adds a positive cumulative rotation amount obtained by accumulating the rotation amount in the clockwise direction of the twist drive and the forward rotation drive, and a reverse cumulative rotation amount obtained by accumulating the rotation amount in the counterclockwise direction of the twist drive and the reverse drive. Are controlled so as to be the same. Further detailed drive control will be described below with reference to the drawings.

  FIG. 6 is a diagram for explaining the rotation direction of the cutting tool 5 controlled by the root canal treating device 100 according to Embodiment 1 of the present invention. The arrows shown in FIG. 6 indicate the rotation direction of the cutting tool 5. Also in FIG. 6, the rotation direction is described with reference to the case where the cutting tool 5 attached to the head unit 2 is directed to the tip direction of the cutting tool 5. Therefore, the clockwise arrow indicates the forward drive of the cutting tool 5, the counterclockwise arrow indicates the reverse drive of the cutting tool 5, and the clockwise and counterclockwise arrows indicate the twist drive of the cutting tool 5. Each is shown.

  First, the control unit 11 controls the drive of the cutting tool 5 by twist drive in the first quadrant (I) and the fourth quadrant (IV) shown in FIG. 6 (FIG. 6A). That is, the control unit 11 performs the twist drive that rotates the cutting tool 5 by 180 degrees in the clockwise direction from the first quadrant (I) and further rotates the cutting tool 5 by 180 degrees in the counterclockwise direction. Therefore, if the cutting tool 5 attached to the head unit 2 is a right-turning cutting tool, the inner wall of the root canal is cut when the control unit 11 rotates the cutting tool 5 by 180 degrees clockwise. If the cutting tool 5 attached to the part 2 is a left-turning cutting tool, the inner wall of the root canal is cut when the control unit 11 rotates the cutting tool 5 by 180 degrees counterclockwise.

  Next, the control part 11 controls the drive of the cutting tool 5 by normal rotation drive in the 1st quadrant (I) shown in FIG. 6 (FIG.6 (b)). That is, the control unit 11 performs forward rotation driving for rotating the cutting tool 5 by 90 degrees in the clockwise direction in the first quadrant (I). Thereby, when the control unit 11 performs the twist drive next time, the drive start position can be moved from the first quadrant (I) to the fourth quadrant (IV). If the cutting tool 5 attached to the head unit 2 is a right-turning cutting tool, the inner wall of the root canal is cut when the control unit 11 rotates the cutting tool 5 by 90 degrees in the clockwise direction. If the cutting tool 5 attached to the head part 2 is a left-turning cutting tool, the inner wall of the root canal is not so much cut.

  Next, since the drive start position has moved to the fourth quadrant (IV), the control unit 11 performs twist driving in the fourth quadrant (IV) and the third quadrant (III) shown in FIG. The drive is controlled (FIG. 6C). That is, the control unit 11 performs the twist drive that rotates the cutting tool 5 by 180 degrees in the clockwise direction from the fourth quadrant (IV) and further rotates the cutting tool 5 by 180 degrees in the counterclockwise direction. Even if the cutting tool 5 attached to the head part 2 is a cutting tool for right rotation or a cutting tool for left rotation, the inner wall of the root canal can be cut by 180 degrees.

  Next, the control part 11 controls the drive of the cutting tool 5 by normal rotation drive in the 4th quadrant (IV) shown in FIG. 6 (FIG.6 (d)). That is, the control unit 11 performs forward rotation driving for rotating the cutting tool 5 by 90 degrees in the clockwise direction in the fourth quadrant (IV). Thereby, when the control part 11 performs twist drive next, a drive start position can be moved from the 4th quadrant (IV) to the 3rd quadrant (III). Only when the cutting tool 5 attached to the head unit 2 is a right-turning cutting tool, the cutting tool 5 can cut the inner wall of the root canal by 90 degrees in the clockwise direction.

  Next, since the drive start position has moved to the third quadrant (III), the control unit 11 twists the cutting tool 5 in the third quadrant (III) and the second quadrant (II) shown in FIG. The drive is controlled (FIG. 6E). That is, the control unit 11 performs the twist drive that rotates the cutting tool 5 by 180 degrees clockwise from the third quadrant (III) and further rotates the cutting tool 5 by 180 degrees counterclockwise. Even if the cutting tool 5 attached to the head part 2 is a cutting tool for right rotation or a cutting tool for left rotation, the inner wall of the root canal can be cut by 180 degrees.

  Next, the control part 11 controls the drive of the cutting tool 5 by normal rotation drive in the 3rd quadrant (III) shown in FIG. 6 (FIG.6 (f)). That is, the control unit 11 performs forward rotation driving for rotating the cutting tool 5 by 90 degrees in the clockwise direction in the third quadrant (III). Thereby, when the control part 11 performs twist drive next, a drive start position can be moved from 3rd quadrant (III) to 2nd quadrant (II). Only when the cutting tool 5 attached to the head unit 2 is a right-turning cutting tool, the cutting tool 5 can cut the inner wall of the root canal by 90 degrees in the clockwise direction.

  Next, since the drive start position has moved to the second quadrant (II), the control unit 11 performs twist driving in the second quadrant (II) and the first quadrant (I) shown in FIG. The drive is controlled (FIG. 6 (g)). That is, the control unit 11 performs the twist drive that rotates the cutting tool 5 by 180 degrees in the clockwise direction from the second quadrant (II) and further rotates the cutting tool 5 by 180 degrees in the counterclockwise direction. Even if the cutting tool 5 attached to the head part 2 is a cutting tool for right rotation or a cutting tool for left rotation, the inner wall of the root canal can be cut by 180 degrees.

  Next, the control part 11 controls the drive of the cutting tool 5 by normal rotation drive in the 2nd quadrant (II) shown in FIG. 6 (FIG.6 (h)). That is, the control unit 11 performs forward rotation driving for rotating the cutting tool 5 by 90 degrees in the clockwise direction in the second quadrant (II). Thereby, when the control unit 11 performs the twist drive next time, the drive start position can be moved from the second quadrant (II) to the first quadrant (I). Only when the cutting tool 5 attached to the head unit 2 is a right-turning cutting tool, the cutting tool 5 can cut the inner wall of the root canal by 90 degrees in the clockwise direction.

  As in the drive control shown in FIG. 6, the control unit 11 can move the position where the twist drive is performed by performing the forward rotation drive between the twist drive and the next twist drive. That is, the control unit 11 can move the position at which the cutting tool 5 cuts the tooth root canal wall by twist drive by normal rotation driving (FIG. 6B, etc.), and can evenly cut the tooth root canal wall. In addition, the driving of the cutting tool 5 is controlled. On the contrary, if the forward rotation drive is not performed, the control unit 11 cuts the root canal wall of the tooth only at the positions (first quadrant (I) and fourth quadrant (IV)) shown in FIG. In addition, the driving of the cutting tool 5 is controlled.

  In the drive control shown in FIG. 6, since the rotation angle in the clockwise direction and the rotation angle in the counterclockwise direction are the same in the twist drive, the cutting tool 5 attached to the head unit 2 is a cutting tool for right rotation. Even if it is a cutting tool for left rotation, the inner wall of a root canal can be cut similarly. However, since the control unit 11 performs forward rotation driving in order to move the position where twist driving is performed, the right rotation cutting tool has a root canal amount that is equal to the normal rotation driving amount compared to the left rotation cutting tool. The inner wall will be cut. Therefore, in order to make the cumulative rotation angle in the clockwise direction and the cumulative rotation angle in the counterclockwise direction the same, the control unit 11 performs the drive control shown in FIG. The driving of the cutting tool 5 for moving the is controlled. Detailed drive control will be described below with reference to the drawings.

  FIG. 7 is a view for explaining the rotation direction of the cutting tool 5 that is driven and controlled by the root canal treating device 100 according to Embodiment 1 of the present invention. The drive control shown in FIG. 7 is performed after the drive control shown in FIG. The arrows shown in FIG. 7 also indicate the rotation direction of the cutting tool 5. Also in FIG. 7, the rotation direction is described with reference to the case where the cutting tool 5 attached to the head unit 2 is directed from the side of the cutting tool 5 toward the tip. Therefore, the clockwise arrow indicates the forward drive of the cutting tool 5, the counterclockwise arrow indicates the reverse drive of the cutting tool 5, and the clockwise and counterclockwise arrows indicate the twist drive of the cutting tool 5. Each is shown.

  First, the control unit 11 controls the drive of the cutting tool 5 by twist drive in the first quadrant (I) and the fourth quadrant (IV) shown in FIG. 7 (FIG. 7 (i)). That is, the control unit 11 performs the twist drive that rotates the cutting tool 5 by 180 degrees in the clockwise direction from the first quadrant (I) and further rotates the cutting tool 5 by 180 degrees in the counterclockwise direction. Therefore, if the cutting tool 5 attached to the head unit 2 is a right-turning cutting tool, the inner wall of the root canal is cut when the control unit 11 rotates the cutting tool 5 by 180 degrees clockwise. If the cutting tool 5 attached to the part 2 is a left-turning cutting tool, the inner wall of the root canal is cut when the control unit 11 rotates the cutting tool 5 by 180 degrees counterclockwise.

  Next, the control part 11 controls the drive of the cutting tool 5 by reverse drive in the 2nd quadrant (II) shown in FIG. 7 (FIG.7 (j)). That is, the control unit 11 performs reverse rotation driving for rotating the cutting tool 5 by 90 degrees counterclockwise in the second quadrant (II). Thereby, when the control part 11 performs twist drive next, a drive start position can be moved from 1st quadrant (I) to 2nd quadrant (II). If the cutting tool 5 attached to the head unit 2 is a counterclockwise cutting tool, the inner wall of the root canal is cut when the control unit 11 rotates the cutting tool 5 by 90 degrees counterclockwise. However, if the cutting tool 5 attached to the head part 2 is a cutting tool for right rotation, the inner wall of the root canal is not cut.

  Next, since the drive start position has moved to the second quadrant (II), the control unit 11 performs twist driving in the second quadrant (II) and the first quadrant (I) shown in FIG. The drive is controlled (FIG. 7 (k)). That is, the control unit 11 performs the twist drive that rotates the cutting tool 5 by 180 degrees in the clockwise direction from the second quadrant (II) and further rotates the cutting tool 5 by 180 degrees in the counterclockwise direction. Even if the cutting tool 5 attached to the head part 2 is a cutting tool for right rotation or a cutting tool for left rotation, the inner wall of the root canal can be cut by 180 degrees.

  Next, the control part 11 controls the drive of the cutting tool 5 by reverse drive in the 3rd quadrant (III) shown in FIG. 7 (FIG. 7 (l)). That is, the control unit 11 performs reverse rotation driving for rotating the cutting tool 5 by 90 degrees counterclockwise in the third quadrant (III). Thereby, when the control part 11 performs twist drive next, a drive start position can be moved from 2nd quadrant (II) to 3rd quadrant (III). The cutting tool 5 can cut the inner wall of the root canal by 90 degrees in the counterclockwise direction only when the cutting tool 5 attached to the head unit 2 is a left-turning cutting tool.

  Next, since the drive start position has moved to the third quadrant (III), the control unit 11 performs twist driving in the third quadrant (III) and the second quadrant (II) shown in FIG. The drive is controlled (FIG. 7 (m)). That is, the control unit 11 performs the twist drive that rotates the cutting tool 5 by 180 degrees clockwise from the third quadrant (III) and further rotates the cutting tool 5 by 180 degrees counterclockwise. Even if the cutting tool 5 attached to the head part 2 is a cutting tool for right rotation or a cutting tool for left rotation, the inner wall of the root canal can be cut by 180 degrees.

  Next, the control part 11 controls the drive of the cutting tool 5 by reverse drive in the 4th quadrant (IV) shown in FIG. 7 (FIG.7 (n)). That is, the control unit 11 performs reverse rotation driving for rotating the cutting tool 5 by 90 degrees counterclockwise in the fourth quadrant (IV). Thereby, when the control part 11 performs twist drive next, a drive start position can be moved from a 3rd quadrant (III) to a 4th quadrant (IV). The cutting tool 5 can cut the inner wall of the root canal by 90 degrees in the counterclockwise direction only when the cutting tool 5 attached to the head unit 2 is a left-turning cutting tool.

  Next, since the drive start position has moved to the fourth quadrant (IV), the control unit 11 performs twist driving in the fourth quadrant (IV) and the third quadrant (III) shown in FIG. The drive is controlled (FIG. 7 (o)). That is, the control unit 11 performs the twist drive that rotates the cutting tool 5 by 180 degrees in the clockwise direction from the fourth quadrant (IV) and further rotates the cutting tool 5 by 180 degrees in the counterclockwise direction. Even if the cutting tool 5 attached to the head part 2 is a cutting tool for right rotation or a cutting tool for left rotation, the inner wall of the root canal can be cut by 180 degrees.

  Next, the control part 11 controls the drive of the cutting tool 5 by reverse drive in the 1st quadrant (I) shown in FIG. 7 (FIG.7 (p)). That is, the control unit 11 performs the reverse rotation driving for rotating the cutting tool 5 by 90 degrees counterclockwise in the first quadrant (I). Thereby, when the control part 11 performs twist drive next, a drive start position can be moved from 4th quadrant (IV) to 1st quadrant (I). The cutting tool 5 can cut the inner wall of the root canal by 90 degrees in the counterclockwise direction only when the cutting tool 5 attached to the head unit 2 is a left-turning cutting tool.

  In the drive control shown in FIG. 7, since the rotation angle in the clockwise direction and the rotation angle in the counterclockwise direction are the same in the twist drive, the cutting tool 5 attached to the head unit 2 is a cutting tool for right rotation. Even if it is a cutting tool for left rotation, the inner wall of a root canal can be cut similarly. And since the control part 11 is performing the reverse rotation drive in order to move the position which performs twist drive, compared with the cutting tool for the right rotation, the cutting tool for the left rotation makes the inner wall of the root canal the amount of the reverse rotation drive. Will cut. Therefore, the control unit 11 performs the drive control shown in FIG. 6 and the drive control shown in FIG. 7 together so that the forward drive and the reverse drive are equally performed in order to move the position where the twist drive is performed. Can be done. In other words, the control unit 11 performs the drive control shown in FIG. 6 and the drive control shown in FIG. 7 together, so that the cumulative rotation angle (positive cumulative rotation amount) in the clockwise direction and the counterclockwise direction are counterclockwise. The driving of the cutting tool 5 can be controlled so that the cumulative rotation angle (reverse cumulative rotation amount) is the same.

  FIG. 8 is a diagram for explaining a change in the cumulative rotation angle of the cutting tool 5 that is driven and controlled by the root canal treating device 100 according to Embodiment 1 of the present invention. The vertical axis shown in FIG. 8 represents the cumulative rotation angle, the cumulative rotation angle in the clockwise direction as a positive value, and the cumulative rotation angle in the counterclockwise direction as a negative value. The horizontal axis shown in FIG. 8 represents the drive period, and represents the period during which the drive control shown in FIGS. 6 and 7 is executed. 8 corresponds to the drive control shown in FIGS. 6 and 7, for example, the period (a) shown in FIG. 8 is the drive control shown in FIG. 6 (a). The period (i) shown in FIG. 8 corresponds to the drive control shown in FIG. 7 (i).

  The control unit 11 performs a twist drive and forward rotation timepiece in a drive period (period (a) to period (p) in FIG. 8) in which the drive control shown in FIG. 6 and the drive control shown in FIG. 7 are combined. The cutting tool 5 is driven so that the accumulated rotation angle obtained by accumulating the rotation angle in the rotating direction becomes +1800 degrees, and the accumulated rotation angle obtained by accumulating the counterclockwise rotation angles of the twist drive and the reverse drive becomes −1800 degrees. Is controlling.

  As described above, the root canal treating device 100 according to Embodiment 1 of the present invention has a tooth regardless of whether the cutting tool 5 attached to the head unit 2 is a right-turning cutting tool or a left-turning cutting tool. The root canal can be cut. Therefore, the user uses the root canal treatment device 100 according to Embodiment 1 of the present invention to determine whether the cutting tool 5 attached to the head unit 2 is a right-turning cutting tool or a left-turning cutting tool. The root canal of the tooth can be cut without checking or setting the rotation direction, and the work load can be reduced. Further, in the root canal treating device 100 according to the first embodiment of the present invention, as shown in FIG. 8, the control unit 11 performs cutting in the positive cumulative rotation angle of the cutting tool 5 in the clockwise direction and in the counterclockwise direction. It can be considered that the configuration is such that the cutting tool 5 is repeatedly rotated in the clockwise direction and the counterclockwise direction while eliminating the difference from the reverse cumulative rotation angle of the tool 5.

  Moreover, there are periodic fatigue and torsional fatigue as a cause of damage (breaking) of the cutting tool 5. In the root canal treating device 100 according to the first embodiment of the present invention, the control unit 11 causes twist fatigue by setting the rotation angle in the clockwise direction and the rotation angle in the counterclockwise direction to the same rotation angle by twist drive. This prevents the cutting tool 5 from being damaged. When the rotation angle in the clockwise direction and the rotation angle in the counterclockwise direction are set to the same rotation angle by twist drive, for example, even if the blade of the cutting tool 5 bites into the root canal wall during rotation in the clockwise direction, It will return the same rotation angle as the rotation angle that digs in when rotating in the direction. Therefore, in this control, the biting of the blade of the cutting tool 5 into the root canal wall can be released during rotation in the counterclockwise direction. Therefore, even when the cutting tool 5 is rotated clockwise by twist driving next time, the biting of the cutting tool 5 into the root canal wall is released, so the blade of the cutting tool 5 bites into the root canal wall. It is possible to reduce the shearing of the cutting tool 5 due to torsional fatigue without continuing rotation while being restrained. On the other hand, as disclosed in the patent document (Japanese Patent Publication No. 2003-504113), the first rotation angle is set so that the material from the root canal surface is discharged when the cutting tool advances in the root canal. When it is controlled to be larger than the rotation angle of 2, it is not possible to reduce the shearing of the cutting tool 5 due to torsional fatigue as in the present invention.

  Furthermore, the tooth includes a tooth (particularly a back tooth) having a greatly curved root canal (curved root canal). When root canal enlargement is performed with the cutting tool 5 on such a curved root canal, the root canal treatment device rotates the cutting tool 5 along the curved root canal, but differs from the original root canal depending on the degree of curvature. The position may be cut to form a dimple called ledge. As a method of preventing the formation of this ledge, a rotation force in the cutting direction and a rotation in the non-cutting direction are alternately repeated so that the rotation angle in the non-cutting direction is at least equal to or greater than the rotation angle in the cutting direction. The method is well known. An example of the case where this BFT method is applied as driving of a root canal treatment device is twist driving in which the rotation angle in the clockwise direction and the rotation angle in the counterclockwise direction are the same. However, when the root canal treatment device performs the twist drive as the BFT method, if the twist drive is simply performed so that the rotation angle in the clockwise direction and the rotation angle in the counterclockwise direction become the same rotation angle, Only the same part in the pipe is cut, and there is a disadvantage that cutting efficiency is poor. Therefore, the root canal treating device 100 according to Embodiment 1 of the present invention moves the position for twist driving by performing normal rotation driving or reverse driving in addition to twist driving, so that only the same portion in the root canal is moved. The root canal wall of the tooth can be cut evenly without cutting, so that the cutting efficiency can be increased and the formation of ledge can be prevented. On the other hand, as disclosed in the patent document (Japanese Patent Publication No. 2003-504113), the first rotation angle is set so that the material from the root canal surface is discharged when the cutting tool advances in the root canal. When the rotation angle is controlled to be larger than 2, the formation of the ledge cannot be prevented as in the present invention.

  Further, in the drive control shown in FIG. 6 and FIG. 7, the control unit 11 performs the cumulative rotation angle (positive cumulative rotation amount) in the clockwise direction within the drive period (period (a) to period (p) in FIG. 8). ) And the cumulative rotation angle (reverse cumulative rotation amount) in the counterclockwise direction is 360 degrees (period (i) in FIG. 8), and within the predetermined period, The driving of the cutting tool 5 is controlled so that the maximum difference from the cumulative rotation amount is equal to or less than a predetermined angle. The control unit 11 stops the drive at any timing of the drive control by controlling the drive of the cutting tool 5 so that the difference between the forward cumulative rotation amount and the reverse cumulative rotation amount is equal to or less than a predetermined angle. Even so, the difference between the cutting of the root canal wall with the cutting tool for right rotation and the cutting of the root canal wall with the cutting tool for left rotation can be reduced.

  Note that the drive control shown in FIGS. 6 and 7 is an example, and the drive control is not limited to the order of twist drive, forward drive, and reverse drive shown in the drive control. If the control unit 11 performs drive control so that the cumulative rotation angle in the clockwise direction and the cumulative rotation angle in the counterclockwise direction become the same rotation angle in a predetermined period, the twist drive in any order, You may perform forward rotation drive and reverse rotation drive. For example, the controller 11 may continue the forward drive or the reverse drive twice after making the twist drive twice. Specifically, the control unit 11 performs processing in the order of FIG. 6 (a) × 2- (b)-(d)-(e) × 2- (f)-(h) in FIG. You may control the drive of the cutting tool 5 in order of (j)-(l)-(m) * 2- (n)-(p).

  Furthermore, the control unit 11 performs twist driving, forward rotation driving, and reverse rotation driving when the cumulative rotation angle in the clockwise direction and the cumulative rotation angle in the counterclockwise direction become the same rotation angle during a predetermined period. The rotation angle is not limited. In the drive control shown in FIGS. 6 and 7, the rotation angle in the clockwise direction and the counterclockwise direction is 180 degrees in the twist drive, the rotation angle in the clockwise direction is 90 degrees in the forward drive, and the counterclockwise in the reverse drive. The rotation angle in the rotation direction was 90 degrees. However, the control unit 11 may, for example, rotate the rotation angle in the clockwise direction and the counterclockwise direction by 270 degrees in the twist drive, 180 degrees in the clockwise direction by the forward rotation, and counterclockwise by the reverse rotation, respectively. The rotation angle may be 180 degrees. Each of these rotation angles may be set in consideration of the extent to which breakage due to torsional fatigue of the cutting tool can be prevented.

  In addition, the control unit 11 determines the clockwise rotation angle in the twist drive when the cumulative rotation angle in the clockwise direction and the cumulative rotation angle in the counterclockwise direction become the same rotation angle during a predetermined period. The present invention is not limited to the case where the rotation angle in the counterclockwise direction is the same rotation angle. In the drive control shown in FIG. 6 and FIG. 7, the rotation angle in the clockwise direction and the counterclockwise direction in the twist drive is the same as 180 degrees. However, for example, in the drive control of FIG. 6, the control unit 11 sets the rotation angle in the clockwise direction to 90 degrees by twist drive and the rotation angle in the counterclockwise direction to 180 degrees, and rotates clockwise in the normal rotation drive. 7 in the drive control of FIG. 7, the rotation angle in the clockwise direction is 180 degrees by twist drive, the rotation angle in the counterclockwise direction is 90 degrees, and the rotation angle in the counterclockwise direction is 180 degrees by reverse rotation drive. It may be set to.

  Furthermore, the control unit 11 has been described that the cumulative rotation angle in the clockwise direction and the cumulative rotation angle in the counterclockwise direction need only be the same rotation angle during a predetermined period. The value to be performed is not limited to the rotation angle, and may be a drive amount (for example, a rotation angle, a drive current amount, a torque amount, etc. when the rotation angle, the number of rotations, and the rotation speed are constant). In the predetermined period, the cumulative amount of rotation in the clockwise direction and the cumulative amount of rotation in the counterclockwise direction are the same amount of rotation only when both the amounts of rotation are necessarily the same amount of rotation. Instead, the difference between the rotation amounts may be within a predetermined range (for example, about ± several degrees).

(Embodiment 2)
Universal that can cut the root canal of a tooth, as described in Embodiment 1 of the present invention, regardless of whether the cutting tool 5 attached to the head portion 2 is a cutting tool for right rotation or a cutting tool for left rotation. Control in the case where driving and control based on a load applied to the cutting tool 5 are combined will be described.

  Since the root canal treating device according to the second embodiment uses the same configuration as the root canal treating device 100 according to the first embodiment shown in FIGS. 1 to 3, detailed description will not be repeated using the same reference numerals. .

  First, as a control based on the load applied to the cutting tool 5, the control unit 11 applies the load applied when the cutting tool 5 is driven to rotate in the clockwise direction and the cutting tool 5 is driven to rotate in the counterclockwise direction. The cutting tool 5 attached to the head unit 2 is identified whether it is a cutting tool for right rotation or a cutting tool for left rotation. If the control unit 11 can identify whether the cutting tool 5 attached to the head unit 2 is a right-turning cutting tool or a left-turning cutting tool, the control unit 11 performs forward rotation driving suitable for right-turning cutting tools instead of universal driving, or left-handing. It is possible to cut the inner wall of the root canal more efficiently by switching to the reverse drive suitable for the cutting tool for rotation.

  FIG. 9 is a flowchart for explaining control for switching the drive by identifying whether the cutting tool 5 is a right-turning cutting tool or a left-turning cutting tool in the root canal treating device 100 according to Embodiment 2 of the present invention. It is. First, the control part 11 controls the drive of the cutting tool 5 by the universal drive demonstrated in Embodiment 1 (step S10).

  Next, the control part 11 acquires the load added to the cutting tool 5 attached to the head part 2 (step S12). Specifically, the control unit 11 obtains a load applied when the cutting tool 5 is driven by rotating clockwise in the universal drive and a load applied when the cutting tool 5 is driven by rotating counterclockwise. To do.

  Next, the control unit 11 is driven by rotating the cutting tool 5 acquired in step S12 when the cutting tool 5 is rotated in the clockwise direction (clockwise load) and the cutting tool 5 is rotated counterclockwise. The load that is sometimes applied (counterclockwise load) is compared (step S14). Here, by comparing the clockwise load and the counterclockwise load, it is possible to identify whether the cutting tool 5 attached to the head unit 2 is a right rotation cutting tool or a left rotation cutting tool. Will be described. The cutting tool for right rotation has a blade formed so that it can cut the object to be cut when driven by right rotation drive. Therefore, the load applied during right rotation is large and the load applied during left rotation is small. Become. On the other hand, the cutting tool for counterclockwise rotation has a blade formed so that the object to be cut can be cut when driven by counterclockwise rotation, so the load applied when rotating counterclockwise is large and the load applied when rotating clockwise Becomes smaller. Therefore, when the cutting tool 5 attached to the head unit 2 is a right-turning cutting tool, the load applied when driven in the clockwise direction is larger than the load applied when driven in the counterclockwise direction. . Therefore, the control part 11 can discriminate | determine that the cutting tool 5 currently hold | maintained at the head part 2 is a cutting tool for right rotation, when the load added when driving clockwise is larger. Conversely, when the cutting tool 5 attached to the head unit 2 is a counterclockwise cutting tool, the load applied when driven counterclockwise is greater than the load applied when driven clockwise. Become. Therefore, the control part 11 can discriminate | determine that the cutting tool 5 currently hold | maintained at the head part 2 is a cutting tool for left rotation, when the load added when driving in a counterclockwise direction is large.

  The control unit 11 compares the clockwise load acquired in step S12 with the counterclockwise load. If the clockwise load is larger than the counterclockwise load (step S14: YES), the control unit 11 holds the load in the head unit 2. It is determined that the cutting tool 5 being operated is a right-turning cutting tool, and the control is switched to control for driving the cutting tool 5 by forward rotation driving (step S16).

  The control unit 11 compares the clockwise load acquired in step S12 with the counterclockwise load. If the clockwise load is equal to or less than the counterclockwise load (step S14: NO), the control unit 11 holds the load in the head unit 2. It is determined that the cutting tool 5 being operated is a left-turning cutting tool, and the control is switched to driving the cutting tool 5 by reverse rotation driving (step S18).

  As described above, the control unit 11 determines the cutting rotation direction in which the cutting tool 5 cuts the object to be cut based on the load applied to the cutting tool 5 (the cutting tool 5 is a clockwise rotating cutting tool or a counterclockwise rotating cutting tool. If the determined cutting rotation direction is clockwise (cutting tool for right rotation), the determined drive is controlled to forward rotation, and the determined cutting rotation direction is counterclockwise (left rotation). If it is a cutting tool, the drive after the judgment is controlled to the reverse drive. Therefore, the control part 11 can cut the inner wall of a root canal efficiently compared with the case where the inner wall of a root canal is cut by universal drive.

  Next, as another control based on the load applied to the cutting tool 5, the control unit 11 performs control for preventing the cutting tool 5 from being damaged when the load applied to the cutting tool 5 increases. Specifically, in order to reduce the load applied to the cutting tool 5, the control unit 11 stops the driving of the cutting tool 5 or drives the cutting tool 5 in the direction opposite to the cutting rotation direction in which the cutting tool 5 cuts the cutting object.

  FIG. 10 is a flowchart for explaining control for preventing breakage of the cutting tool 5 in the root canal treating device 100 according to Embodiment 2 of the present invention. First, the control part 11 acquires the load added to the cutting tool 5 attached to the head part 2 (step S20). Specifically, the control unit 11 obtains a load applied when the cutting tool 5 is driven by rotating clockwise in the universal drive and a load applied when the cutting tool 5 is driven by rotating counterclockwise. To do.

  Next, the control unit 11 compares the clockwise load acquired in step S20 with the counterclockwise load, and determines the cutting rotation direction in which the cutting tool 5 cuts the cutting object (step S22). . Specifically, the control unit 11 determines that the cutting rotation direction is clockwise when the clockwise load is larger than the counterclockwise load (the cutting tool 5 held in the head unit 2 rotates clockwise). Discriminating that it is a cutting tool for use. When the load in the counterclockwise direction is larger than the load in the clockwise direction, the control unit 11 determines that the cutting rotation direction is counterclockwise (the cutting tool 5 held in the head unit 2 is a cutting tool for counterclockwise rotation). Is determined).

  Next, the comparison circuit 110 compares the load detected by the load detection resistor 13d with the reference load set in the reference load setting variable resistor 14a of the setting unit 14 (step S24). Thereby, the biting into the root canal wall of the cutting tool 5 which is one of the causes of the breakage of the cutting tool 5 can be detected. When the cutting tool 5 is driven by universal driving, the comparison circuit 110 compares the larger one of the clockwise load and the counterclockwise load detected by the load detection resistor 13d with the reference load. To do.

  When it is determined that the load detected by the comparison circuit 110 is equal to or greater than the reference load (step S24: YES), the control unit 11 stops driving the cutting tool 5, or the reverse rotation direction of the cutting rotation direction determined in step S22. The drive of the cutting tool 5 is controlled (counterclockwise when the cutting rotation direction is clockwise, and clockwise when the cutting rotation direction is counterclockwise) (step S26).

  When it is determined that the load detected by the comparison circuit 110 is less than the reference load (step S24: NO), the driving of the cutting tool 5 is stopped, or the driving of the cutting tool 5 is controlled in the reverse rotation direction of the cutting rotation direction ( After step S26), the control unit 11 determines whether or not an operation for ending driving is input from the operation unit 15 (step S28). When an operation to end driving is input from the operation unit 15 (step S28: YES), the control unit 11 ends driving. When the operation to finish driving is not input from the operation unit 15 (step S28: NO), the control unit 11 returns to the process of step S20.

  As described above, when the control unit 11 determines that the load detected by the comparison circuit 110 is equal to or higher than the reference load, the rotation of the cutting tool 5 is set in the reverse rotation direction of the cutting rotation direction for cutting the cutting object. Since the drive is controlled so that the drive or the rotation of the cutting tool 5 is stopped, it is possible to prevent the cutting tool from being damaged by the applied load.

(Embodiment 3)
The root canal wall of the tooth can be cut regardless of whether the cutting tool 5 attached to the head portion 2 described in the first embodiment of the present invention is a cutting tool for right rotation or a cutting tool for left rotation. When combining the universal drive and the control based on the position of the cutting tool 5 acquired from the root canal length measurement circuit 12 (the position within the root canal of the cutting tool 5 obtained by the root canal length measurement circuit 12) Control will be described.

  Since the root canal treating device according to the third embodiment uses the same configuration as the root canal treating device 100 according to the first embodiment shown in FIGS. 1 to 3, detailed description will not be repeated using the same reference numerals. .

  First, as control based on the position of the cutting tool 5, the control unit 11 performs control for switching the driving of the cutting tool 5 when the position of the cutting tool 5 is close to the apex. Specifically, when the position of the cutting tool 5 becomes close to the apex, the control unit 11 stops driving the cutting tool 5 or drives in a direction opposite to the cutting rotation direction in which the cutting tool 5 cuts the object to be cut. To do.

  FIG. 11 is a flowchart for explaining control when the position of the cutting tool 5 is close to the apex in the root canal treating device 100 according to Embodiment 3 of the present invention. First, the control unit 11 acquires the position of the cutting tool 5 obtained by the root canal length measurement circuit 12 (step S30). The control unit 11 compares the acquired clockwise load with the counterclockwise load at the time of acquiring the position of the cutting tool 5, and the cutting rotation direction in which the cutting tool 5 cuts the cutting object. It is assumed that

  Next, the control unit 11 determines whether or not the position of the cutting tool 5 acquired from the root canal length measuring circuit 12 has reached the reference position (cutting tool position ≦ reference position) (step S32).

  When it is determined that the acquired position of the cutting tool 5 has reached the reference position (step S32: YES), the control unit 11 stops driving the cutting tool 5 or reversely rotates in the cutting rotation direction determined in step S22. The driving of the cutting tool 5 is controlled in the direction (counterclockwise when the cutting rotation direction is clockwise, and clockwise when the cutting rotation direction is counterclockwise) (step S34).

  When it is determined that the acquired position of the cutting tool 5 has not reached the reference position (step S32: NO), or the driving of the cutting tool 5 is stopped or the cutting tool 5 is driven in the reverse rotation direction of the cutting rotation direction. After controlling (step S34), the control unit 11 determines whether or not an operation for ending driving is input from the operation unit 15 (step S36). When an operation to end driving is input from the operation unit 15 (step S36: YES), the control unit 11 ends driving. When the operation to finish driving is not input from the operation unit 15 (step S36: NO), the control unit 11 returns to the process of step S30.

  When the control unit 11 determines that the position of the cutting tool 5 detected by the root canal length measurement circuit 12 has reached the reference position (the position of the apex), the rotation of the cutting tool 5 that cuts the object to be cut. Since the drive or the drive is controlled so as to stop the rotation of the cutting tool 5 so as to be in the direction opposite to the direction of rotation, the operation near the reference position (apical position) can be performed safely.

  Next, as another control based on the position of the cutting tool 5, control for changing a reference load set in accordance with the position of the cutting tool 5 is performed. Specifically, the control unit 11 compares the load applied to the cutting tool 5 with the reference load as described in the second embodiment, but the reference load is determined according to the position of the cutting tool 5 in the root canal. By setting, damage to the cutting tool 5 can be further prevented.

  First, the reference load set according to the position of the cutting tool 5 in the root canal treating device 100 according to the third embodiment will be described. In the root canal treating device 100 according to the third embodiment, the distance from the detected position to the reference position (| detected position−reference position |) is distance A, distance B, and distance C (distance A> distance B> distance C). ), The reference load set by the setting unit 14 changes in the order of load A, load B, load C, and load D (load A> load B> load C> load D). That is, as the cutting tool 5 approaches the reference position (for example, the position of the apex), the reference load set by the setting unit 14 is changed so as to decrease. Thereby, the root canal treating device 100 according to Embodiment 3 can prevent the cutting tool 5 from being damaged by a load near the reference position.

  FIG. 12 is a flowchart for explaining an example of the reference load set in accordance with the position of the cutting tool 5 in the root canal treating device 100 according to Embodiment 3 of the present invention. First, the control unit 11 performs control so that the cutting tool 5 is driven by the universal drive described in the first embodiment. And the control part 11 acquires the position of the cutting tool 5 obtained by the root canal length measurement circuit 12 (step S101).

  Next, the control unit 11 determines whether or not the distance from the acquired position to the reference position is greater than or equal to the distance A (step S102). When it is determined that the distance from the acquired position to the reference position is greater than or equal to the distance A (step S102: YES), the control unit 11 sets the reference load to be the load A with respect to the setting unit 14 (step S102). S103). If it is determined that the distance from the acquired position to the reference position is less than the distance A (step S102: NO), the control unit 11 determines whether or not the distance from the detected position to the reference position is greater than or equal to the distance B. Judgment is made (step S104).

  When it is determined that the distance from the acquired position to the reference position is greater than or equal to the distance B (step S104: YES), the control unit 11 sets the reference load to be the load B with respect to the setting unit 14 (step S104). S105). When it is determined that the distance from the acquired position to the reference position is less than the distance B (step S104: NO), the control unit 11 determines whether or not the distance from the detected position to the reference position is greater than or equal to the distance C. Judgment is made (step S106).

  When it is determined that the distance from the acquired position to the reference position is greater than or equal to the distance C (step S106: YES), the control unit 11 sets the reference load to be the load C with respect to the setting unit 14 (step S106). S107). When it is determined that the distance from the acquired position to the reference position is less than the distance C (step S106: NO), the control unit 11 sets the reference load to be the load D with respect to the setting unit 14 (step S106). S108).

  After setting the reference load to one of the loads A to D by the setting unit 14, the control unit 11 determines whether or not an operation for ending driving is input from the operation unit 15 (step S109). When an operation to end the driving is input from the operation unit 15 (step S109: YES), the control unit 11 ends the driving. When the operation to end the drive is not input from the operation unit 15 (step S109: NO), the process returns to step S101, and the position of the cutting tool 5 obtained by the root canal length measurement circuit 12 is detected.

  In addition, since the flowchart shown in FIG. 12 is a flowchart for demonstrating the setting of a reference | standard load, especially the drive of the cutting tool 5 is not demonstrated. However, in the root canal treating device 100 according to the third embodiment, the setting unit 14 sets the reference load to any one of the loads A to D, and then drives the cutting tool 5 by the control described in the second embodiment. To control.

  In the flowchart shown in FIG. 12, the example in which the reference load is set to any one of the loads A to D has been described, but the present invention is not limited to this. The control unit 11 may change the reference load set by the setting unit 14 to be continuously reduced as the cutting tool 5 approaches the reference position. Furthermore, in the flowchart shown in FIG. 12, the example in which the reference load is changed so as to decrease in the order of the load A to the load D as the cutting tool 5 approaches the reference position has been described, but the present invention is not limited to this. If the reference load can be changed according to the acquired position, the control unit 11 may change the load so as to increase in the order of the load A to the load D, for example.

  As described above, the control unit 11 changes the reference load according to the position of the cutting tool 5 detected by the root canal length measurement circuit 12, and therefore, an optimal reference according to the position of the cutting tool in the root canal of the tooth. It is possible to set a load, and the breakage of the cutting tool 5 due to the load can be further prevented.

(Modification 1)
In the first embodiment, the control unit 11 performs the clockwise driving and the counterclockwise driving by the twist driving, and then the clockwise driving by the forward driving or the counterclockwise driving by the reverse driving. The universal drive that performs the drive has been described. However, if the control unit 11 performs drive control so that the cumulative rotation angle in the clockwise direction and the cumulative rotation angle in the counterclockwise direction become the same rotation angle during a predetermined period, the control unit 11 rotates clockwise with twist drive. Driving is controlled so that clockwise driving continues in the clockwise direction and forward driving, and driving in the counterclockwise direction is continued in the counterclockwise driving by twist driving. May be controlled. Further detailed drive control will be described below with reference to the drawings.

  FIG. 13 is a view for explaining the rotation direction of the cutting tool 5 controlled by the root canal treating device 100 according to the first modification of the present invention. The arrows shown in FIG. 13 indicate the rotation direction of the cutting tool 5. Also in FIG. 13, the rotation direction is described with reference to the case where the cutting tool 5 attached to the head unit 2 faces the tip direction of the cutting tool 5.

  First, the control unit 11 controls driving of the cutting tool 5 by normal rotation driving in the first quadrant (I) shown in FIG. 13, and continuously twist driving in the third quadrant (III) and the fourth quadrant (IV). To control the driving of the cutting tool 5 (FIG. 13A). That is, the control unit 11 performs forward rotation driving (rotating line arrow) for rotating the cutting tool 5 by 90 degrees in the clockwise direction from the first quadrant (I), and continuously cutting the tool by 180 degrees in the clockwise direction. 5 is rotated (difference between a solid line arrow and a broken line arrow), and twist driving is performed to rotate the cutting tool 5 by 180 degrees counterclockwise. Therefore, if the cutting tool 5 attached to the head unit 2 is a right-turning cutting tool, the inner wall of the root canal is cut when the control unit 11 rotates the cutting tool 5 by 270 degrees clockwise. If the cutting tool 5 attached to the part 2 is a left-turning cutting tool, the inner wall of the root canal is cut when the control unit 11 rotates the cutting tool 5 by 180 degrees counterclockwise.

  Since the control unit 11 continuously drives the cutting tool 5 by forward rotation and drive of the cutting tool 5 by twist drive, the difference between the rotation angle in the clockwise direction and the rotation angle in the counterclockwise direction is the difference. Occurs. Therefore, the control part 11 can move the next drive start position from the 1st quadrant (I) to the 4th quadrant (IV) after the cutting tool 5 is driven by the twist drive. In addition, if the cutting tool 5 attached to the head unit 2 is a cutting tool for right rotation, the inner wall of the root canal can be further cut by the amount of driving of the cutting tool 5 by normal rotation driving.

  Next, since the drive start position has moved to the fourth quadrant (IV), the control unit 11 controls the drive of the cutting tool 5 by normal rotation drive in the fourth quadrant (IV) shown in FIG. Then, the drive of the cutting tool 5 is controlled by twist drive in the second quadrant (II) and the third quadrant (III) (FIG. 13B). In other words, the control unit 11 performs forward rotation driving (rotated arrow) for rotating the cutting tool 5 by 90 degrees in the clockwise direction from the fourth quadrant (IV), and continuously cutting the tool by 180 degrees in the clockwise direction. 5 is rotated (difference between a solid line arrow and a broken line arrow), and twist driving is performed to rotate the cutting tool 5 by 180 degrees counterclockwise. Since the controller 11 continuously drives the cutting tool 5 by forward rotation and drive of the cutting tool 5 by twist drive, after the cutting tool 5 is driven by twist drive, the next drive start position is determined. It is possible to move from the fourth quadrant (IV) to the third quadrant (III).

  Next, since the drive start position has moved to the third quadrant (III), the control unit 11 controls the drive of the cutting tool 5 by forward rotation drive in the third quadrant (III) shown in FIG. Then, the drive of the cutting tool 5 is controlled by twist drive in the first quadrant (I) and the second quadrant (II) (FIG. 13C). That is, the control unit 11 performs forward rotation driving (rotating arrow in the broken line) for rotating the cutting tool 5 by 90 degrees in the clockwise direction from the third quadrant (III), and continuously cutting the tool by 180 degrees in the clockwise direction. 5 is rotated (difference between a solid line arrow and a broken line arrow), and twist driving is performed to rotate the cutting tool 5 by 180 degrees counterclockwise. Since the controller 11 continuously drives the cutting tool 5 by forward rotation and drive of the cutting tool 5 by twist drive, after the cutting tool 5 is driven by twist drive, the next drive start position is determined. It is possible to move from the third quadrant (III) to the second quadrant (II).

  Next, since the drive start position has moved to the second quadrant (II), the control unit 11 controls the drive of the cutting tool 5 by normal rotation drive in the second quadrant (II) shown in FIG. Then, the drive of the cutting tool 5 is controlled by twist drive in the first quadrant (I) and the fourth quadrant (IV) (FIG. 13 (d)). That is, the control unit 11 performs forward rotation driving (rotating arrow in the broken line) for rotating the cutting tool 5 by 90 degrees clockwise from the second quadrant (II), and continuously cutting the tool by 180 degrees clockwise. 5 is rotated (difference between a solid line arrow and a broken line arrow), and twist driving is performed to rotate the cutting tool 5 by 180 degrees counterclockwise. Since the controller 11 continuously drives the cutting tool 5 by forward rotation and drive of the cutting tool 5 by twist drive, after the cutting tool 5 is driven by twist drive, the next drive start position is determined. It is possible to move from the second quadrant (II) to the first quadrant (I).

  Next, since the movement of the drive start position by the forward drive has returned to the first quadrant (I), the drive start position is moved by the reverse drive. Therefore, the control unit 11 controls the drive of the cutting tool 5 by twist drive in the first quadrant (I) and the fourth quadrant (IV) shown in FIG. 13, and continuously performs reverse drive in the second quadrant (II). The drive of the cutting tool 5 is controlled (FIG. 13 (e)). That is, the control unit 11 rotates the cutting tool 5 by 180 degrees in the clockwise direction from the first quadrant (I), and further rotates the cutting tool 5 by 180 degrees in the counterclockwise direction (solid line arrows and broken line arrows). And the reverse rotation drive (broken arrow) that rotates the cutting tool 5 by 90 degrees counterclockwise in the second quadrant (II). The control unit 11 continuously performs the driving of the cutting tool 5 by twist driving and the driving of the cutting tool 5 by reverse driving. Therefore, after the cutting tool 5 is driven by reverse driving, the next driving start position is the first driving position. It is possible to move from the first quadrant (I) to the second quadrant (II).

  Next, since the drive start position has moved to the second quadrant (II), the control unit 11 performs twist driving in the first quadrant (I) and the second quadrant (II) shown in FIG. The drive is controlled, and the drive of the cutting tool 5 is continuously controlled by reverse drive in the third quadrant (III) (FIG. 13 (f)). That is, the control unit 11 rotates the cutting tool 5 by 180 degrees in the clockwise direction from the second quadrant (II), and further rotates the cutting tool 5 by 180 degrees in the counterclockwise direction (solid arrow and broken arrow). In the third quadrant (III), and reverse rotation (broken arrow) is performed to rotate the cutting tool 5 by 90 degrees counterclockwise. The control unit 11 continuously performs the driving of the cutting tool 5 by twist driving and the driving of the cutting tool 5 by reverse driving. Therefore, after the cutting tool 5 is driven by reverse driving, the next driving start position is the first driving position. It is possible to move from the second quadrant (II) to the third quadrant (III).

  Next, since the drive start position has moved to the third quadrant (III), the control unit 11 twists the cutting tool 5 in the second quadrant (II) and the third quadrant (III) shown in FIG. The drive is controlled, and the drive of the cutting tool 5 is continuously controlled by reverse rotation in the fourth quadrant (IV) (FIG. 13 (g)). That is, the control unit 11 rotates the cutting tool 5 by 180 degrees in the clockwise direction from the third quadrant (III), and further rotates the cutting tool 5 by 180 degrees in the counterclockwise direction (solid line arrows and broken line arrows). In the fourth quadrant (IV), and reverse rotation driving (rotating arrow in broken line) for rotating the cutting tool 5 by 90 degrees counterclockwise is performed. The control unit 11 continuously performs the driving of the cutting tool 5 by twist driving and the driving of the cutting tool 5 by reverse driving. Therefore, after the cutting tool 5 is driven by reverse driving, the next driving start position is the first driving position. It is possible to move from the third quadrant (III) to the fourth quadrant (IV).

  Next, since the driving start position has moved to the fourth quadrant (IV), the control unit 11 performs twist driving in the third quadrant (III) and the fourth quadrant (IV) shown in FIG. The drive is controlled, and the drive of the cutting tool 5 is continuously controlled by the reverse drive in the first quadrant (I) (FIG. 13 (h)). That is, the control unit 11 rotates the cutting tool 5 by 180 degrees in the clockwise direction from the fourth quadrant (IV), and further rotates the cutting tool 5 by 180 degrees in the counterclockwise direction (solid arrow and broken arrow). In the first quadrant (I), and reverse rotation (broken arrow) is performed to rotate the cutting tool 5 by 90 degrees counterclockwise. The control unit 11 continuously performs the driving of the cutting tool 5 by twist driving and the driving of the cutting tool 5 by reverse driving. Therefore, after the cutting tool 5 is driven by reverse driving, the next driving start position is the first driving position. It is possible to move from the four quadrant (IV) to the first quadrant (I).

  FIG. 14 is a diagram for explaining a change in the cumulative rotation angle of the cutting tool 5 that is driven and controlled by the root canal treating device 100 according to the first modification of the present invention. The vertical axis shown in FIG. 14 represents the cumulative rotation angle, the cumulative rotation angle in the clockwise direction is expressed as a positive value, and the cumulative rotation angle in the counterclockwise direction is expressed as a negative value. The horizontal axis shown in FIG. 14 represents the drive period, and represents the period during which the drive control shown in FIG. 13 is executed. 14 corresponds to each drive control shown in FIG. 13. For example, the period (a) shown in FIG. 14 is the same as the drive control shown in FIG. The period (e) shown in FIG. 14 corresponds to the drive control in FIG. In addition, also in the change of the cumulative rotation angle shown in FIG. 14, the change of the cumulative rotation angle in the forward rotation drive and the reverse rotation drive is indicated by a broken line.

  In the drive period of drive control shown in FIG. 13 (period (a) to period (h) in FIG. 14), the control unit 11 accumulates rotations obtained by accumulating clockwise rotation angles of twist drive and normal rotation drive. The driving of the cutting tool 5 is controlled so that the angle becomes +1800 degrees, and the cumulative rotation angle obtained by accumulating the rotation angles in the counterclockwise direction of the twist drive and the reverse drive becomes −1800 degrees.

  As described above, in the root canal treating device 100 according to the first modification of the present invention, the control unit 11 controls the drive so that the forward rotation drive and the clockwise drive among the twist drives are continuous, The drive is controlled so that the reverse drive and the drive in the counterclockwise direction of the twist drive are continuous. Furthermore, in the root canal treating device 100 according to the first modification of the present invention, the control unit 11 rotates the cumulative rotation angle in the clockwise direction and the cumulative rotation angle in the counterclockwise direction in the same period. Since the drive control is performed so that the angle is set, the root canal wall of the tooth can be cut regardless of whether the cutting tool 5 attached to the head portion 2 is a right-turning cutting tool or a left-turning cutting tool. it can.

  In addition, the forward rotation drive or the reverse drive and the twist drive are continuously arranged, the forward drive is a part of the clockwise drive of the twist drive, and the reverse drive is the counterclockwise drive of the twist drive. It may be considered as an integral drive as part of the above. Specifically, the control unit 11 rotates the cutting tool 5 in the clockwise direction by the first rotation angle and then rotates the second rotation angle smaller than the first rotation angle in the counterclockwise direction. One twist drive and a series of second twist drives in which the cutting tool 5 is rotated counterclockwise by a first rotational angle and then rotated clockwise by a second rotational angle. Furthermore, the control unit 11 controls the drive so that the number of times of the first twist drive and the number of times of the second twist drive are the same.

  Referring to the example of FIG. 13, the control unit 11 rotates the cutting tool 5 by 270 degrees in the clockwise direction, and then rotates a first twist drive that rotates 180 degrees in the counterclockwise direction, and cutting. After the tool 5 is rotated 270 degrees in the counterclockwise direction, a series of second twist driving is performed in which the tool 5 is rotated 180 degrees in the clockwise direction. Further, the control unit 11 has the same number 4 of the number of times of the first twist drive (FIGS. 13A to 13D) and the number of times of the second twist drive (FIGS. 13E to 13H). The drive is controlled so that it becomes the number of times.

(Modification 2)
In the first modification, the control unit 11 controls the drive so that the clockwise drive by the twist drive and the clockwise drive by the forward drive are continuous, and the counterclockwise drive and reverse by the twist drive. An example has been described in which the drive is controlled so that the drive continues in the counterclockwise direction. Of course, if the control unit 11 performs drive control so that the cumulative rotation angle in the clockwise direction and the cumulative rotation angle in the counterclockwise direction become the same rotation angle in a predetermined period, the control unit 11 rotates clockwise with twist drive. Even if the drive is controlled so that the clockwise drive is not continuous with the direction drive and the forward drive, and the counterclockwise drive is not continued with the twist drive and the counterclockwise drive with the reverse drive. Good.

  FIG. 15 is a diagram for explaining a change in the cumulative rotation angle of the cutting tool 5 that is driven and controlled by the root canal treating device 100 according to the second modification of the present invention. In the change of the cumulative rotation angle shown in FIG. 15, the change of the cumulative rotation angle in the twist drive motion is represented by a solid line, and the change of the cumulative rotation angle in the forward rotation drive and the reverse rotation drive is represented by a broken line. 15 corresponds to the drive control shown in FIGS. 6 and 7, for example, the period (a) shown in FIG. 15 is the same as the drive control shown in FIG. The period (i) shown in FIG. 15 corresponds to the drive control shown in FIG. 7 (i).

  The change in the cumulative rotation angle shown in FIG. 15 is different from the change in the cumulative rotation angle shown in FIGS. 8 and 14 in that the forward rotation drive, the reverse rotation drive, and the twist drive are performed so that the clockwise or counterclockwise drive is not continued. The order of the rotation direction of the drive is changed. Specifically, in the period (a) shown in FIG. 15, the twisting drive for rotating the cutting tool 5 in the counterclockwise direction after rotating the cutting tool 5 in the clockwise direction is performed. In the period (c) after the forward rotation is performed, the cutting tool 5 is rotated in the counterclockwise direction and then the cutting tool 5 is rotated in the clockwise direction. Next, in the period (d), reverse rotation driving is performed so as not to be continuous with the clockwise driving of the period (c). In the period after the period (e) shown in FIG. 15, the pattern of the period (a) to the period (d) is repeatedly performed.

  In the drive period (period (a) to period (p)) of the drive control shown in FIG. 15, the control unit 11 has a cumulative rotation angle obtained by accumulating the rotation angle in the clockwise direction of the twist drive and the normal rotation drive at +1800. The driving of the cutting tool 5 is controlled so that the cumulative rotation angle obtained by accumulating the rotation angle in the counterclockwise direction of the twist drive and the reverse drive becomes −1800 degrees and becomes the same. Therefore, even in the root canal treating device 100 according to the second modification of the present invention, regardless of whether the cutting tool 5 attached to the head unit 2 is a right-turning cutting tool or a left-turning cutting tool, The root canal wall can be cut.

(Modification 3)
Furthermore, the drive control of the root canal treating device according to the present invention includes a first pattern in which a drive for rotating the cutting tool 5 in a clockwise direction and a drive for rotating in a counterclockwise direction are combined, and the cutting tool 5 The cumulative amount of rotation in the clockwise direction and the counterclockwise direction after a lapse of a certain period from the start of the driving by the second pattern that combines the driving that rotates in the clockwise direction and the driving that rotates in the counterclockwise direction. It can also be regarded as drive control in which the difference from the cumulative rotation amount in the direction is set to a predetermined amount or less.

  Specifically, in the drive control shown in FIGS. 6 and 7, the first pattern is a pattern in which the cutting tool 5 is rotated 180 degrees clockwise, 180 degrees counterclockwise, and 90 degrees clockwise. As the second pattern, a pattern in which the cutting tool 5 is rotated 180 degrees clockwise, 180 degrees counterclockwise, and 90 degrees counterclockwise is prepared. In the drive control shown in FIGS. 6 and 7, the difference in the cumulative rotation angle is 360, which is the maximum value at the timing of performing the second pattern after repeating the first pattern four times (period (i) shown in FIG. 8). Degree.

  In the drive control shown in FIG. 13, the first pattern is 270 degrees clockwise, 180 degrees counterclockwise, the cutting tool 5 is rotated, and the second pattern is 180 degrees clockwise. A pattern of rotating the cutting tool 5 by 270 degrees in the clockwise direction is prepared. In the drive control shown in FIG. 13, the difference in the cumulative rotation angle becomes the maximum value of 360 degrees at the timing of performing the second pattern after repeating the first pattern four times (period (i) shown in FIG. 8). .

(Other variations)
Furthermore, in the root canal treatment device 100 according to the first to third embodiments, the configuration in which the handpiece 1 is connected to the control box 9 via the hose 61 has been described, but the present invention is limited to this. It may be configured as a cordless type root canal treatment device. FIG. 16 is a schematic view showing a configuration of a cordless type root canal treatment device. The cordless type root canal treatment device shown in FIG. 16 has a control system corresponding to a battery pack, a micromotor, and a control box incorporated in the grasping portion 4 of the handpiece 1, and various operation portions are provided on the surface of the grasping portion 4. . Further, the cordless type root canal treatment device is provided with a display unit 16 in the grip unit 4. Therefore, the user can determine whether the cutting tool 5 is driven by normal rotation or reverse rotation without changing the line of sight, and what is the current position of the cutting tool 5. It is possible to confirm information such as how much load is applied to 5 and what is the rotation speed. Although not shown, the lead wire 19 for the oral electrode 19 a may be led out from the grip portion 4.

  Moreover, in the root canal treating device 100 according to the first to third embodiments, the case where the micromotor 7 is used as the power source for driving the cutting tool 5 has been described, but the present invention is not limited to this, and the air motor It may be another drive source such as.

  In the root canal treating device 100 according to the first to third embodiments, at least one set value is selected from the recipes that store the reference load and the set values of the rotation speed (the rotation speed in the normal rotation direction or the reverse rotation direction). The configuration may be set by the setting unit 14 shown in FIG. For example, the setting unit 14 may be configured to automatically set set values such as a reference load and a rotation speed from a predetermined recipe by selecting the sex and height of the patient. Further, the setting unit 14 stores in advance a set value such as a reference load and a rotation speed that the user prefers as a recipe, or stores a set value such as a reference load and rotation speed that is optimal for each patient as a recipe in advance. It is also possible to adopt a configuration in which

  Furthermore, in the root canal treating device 100 according to the first to third embodiments, according to the type of the cutting tool 5 held in the head unit 2, set values such as a reference load and a rotation speed are preliminarily stored in the setting unit 14 as a recipe. By reading from the setting unit 14 a recipe that is stored and stored based on the type of the cutting tool 5 held by the head unit 2 by the user, set values such as a reference load and a rotation speed are set. It may be configured. Of course, the setting unit 14 is provided with a sensor that can identify the type of the cutting tool 5 in the head unit 2, and by reading a recipe stored based on the detection result from the sensor, the reference load and rotation A configuration may be used in which setting values such as speed are set.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

  DESCRIPTION OF SYMBOLS 1 Handpiece, 2 Head part, 3 Neck part, 4 Gripping part, 5 Cutting tool, 6 Motor unit, 7 Micro motor, 8 Signal lead wire, 9 Control box, 10 Instrument, 10a Holder, 11 Control part, 11a to 11d ports, 12 root canal length measurement circuit, 13 motor driver, 13a transistor switch, 13b transistor driver circuit, 13c rotation direction selector switch, 13d load detection resistor, 14 setting unit, 14a, 14b, 14c variable resistor, 15 Operation unit, 16 display unit, 17 notification unit, 18 foot controller, 19 lead wire, 19a oral electrode, 20 main power source, 21 main switch, 52, 60 dot display unit, 54, 62 zone display unit, 56 boundary display unit, 58 arrival rate display, 60a element, 61 64, numerical display, 68 rotation display, 71 power supply lead wire, 100 root canal treatment device, 110 comparison circuit.

Claims (14)

A handpiece that holds the cutting tool in a drivable manner on the head part;
A drive unit for driving the cutting tool held by the head unit;
Forward drive for controlling the drive unit to rotate the cutting tool in the clockwise direction, reverse drive for rotating the cutting tool in the counterclockwise direction, and turning the cutting tool in the clockwise direction and the counterclockwise direction A control unit that controls either twist drive that rotates alternately in the direction,
The controller is
During the predetermined period, each of the twist drive, the forward rotation drive, and the reverse drive is performed at least once, and the clockwise drive amounts of the twist drive and the forward drive are accumulated. A dental treatment apparatus that performs control such that an accumulated drive amount is the same as a reverse accumulated drive amount obtained by accumulating the counterclockwise drive amounts of the twist drive and the reverse drive.   The control unit according to claim 1, wherein the control unit controls the driving so that the clockwise driving amount in the twist driving and the counterclockwise driving amount in the twist driving are the same. Dental treatment device.   The control unit controls the drive so that the forward drive and the clockwise drive of the twist drive are continuous, and the counterclockwise drive of the reverse drive and the twist drive. The dental treatment apparatus according to claim 1, wherein the driving is controlled so that the two are continuous.   The dental treatment apparatus according to claim 1 or 2, wherein the control unit performs control so that the twist drive and the forward drive or the reverse drive are alternately driven.   The control unit controls driving so that a maximum difference between the forward cumulative drive amount and the reverse cumulative drive amount is equal to or less than a predetermined angle within a predetermined period. Item 5. The dental treatment device according to any one of Items 4 to 4. A load detecting unit for detecting a load applied to the cutting tool;
The said control part judges the cutting rotation direction in which the said cutting tool cuts a cutting target based on the load added to the said cutting tool detected by the said load detection part, The any one of Claims 1-5. The dental treatment apparatus according to 1.   The control unit controls the determined drive to the normal rotation drive if the determined cutting rotation direction is the clockwise direction, and if the determined cutting rotation direction is the counterclockwise direction, The dental treatment apparatus according to claim 6, wherein driving is controlled to the reverse driving.   The control unit is driven so that the rotation of the cutting tool is opposite to the cutting rotation direction for cutting the object to be cut when the load applied to the cutting tool detected by the load detection unit is equal to or higher than a reference load. Or the dental treatment apparatus of Claim 6 or Claim 7 which controls a drive so that rotation of the said cutting tool may be stopped. A position detector for detecting a position in the root canal of the tip of the cutting tool obtained by electrical root canal length measurement;
When the position detected by the position detection unit reaches a reference position, the control unit drives the cutting tool so that the rotation of the cutting tool is a reverse rotation direction of the cutting rotation direction for cutting the cutting object. The dental treatment apparatus according to any one of claims 6 to 8, wherein the driving is controlled so as to stop the rotation. A position detector for detecting a position in the root canal of the tip of the cutting tool obtained by electrical root canal length measurement;
The dental treatment apparatus according to claim 8, wherein the control unit changes the reference load according to the position detected by the position detection unit.   11. The system according to claim 6, further comprising a notification unit that notifies the user whether the cutting rotation direction determined by the control unit is the clockwise direction or the counterclockwise direction. The dental treatment device according to claim 1. A handpiece that holds the cutting tool in a drivable manner on the head part;
A drive unit for driving the cutting tool held by the head unit;
A controller that controls the drive to control the drive to rotate the cutting tool clockwise or counterclockwise;
The controller is
A series of first twist drive drive cycles in which the cutting tool is rotated in the clockwise direction by the first drive amount and then rotated in the counterclockwise direction by a second drive amount smaller than the first drive amount. And the same number of drive times of a series of second twist drives in which the cutting tool is rotated by the first drive amount in the counterclockwise direction and then the second drive amount is rotated in the clockwise direction. Dental treatment device that controls the drive so that A method for driving a dental treatment device for driving a cutting tool held by a head portion of a handpiece,
Forward rotation that rotates the cutting tool clockwise, reverse rotation that rotates the cutting tool counterclockwise, and twist that rotates the cutting tool alternately in the clockwise and counterclockwise directions It is possible to drive the cutting tool with any of the drives,
During the predetermined period, each of the twist drive, the forward rotation drive, and the reverse drive is performed at least once, and the clockwise drive amounts of the twist drive and the forward drive are accumulated. A method for driving a dental treatment apparatus, wherein the cumulative drive amount and the reverse cumulative drive amount obtained by accumulating the drive amounts in the counterclockwise direction of the twist drive and the reverse drive are the same. A handpiece that holds the cutting tool in a drivable manner on the head part;
A drive unit for driving the cutting tool held by the head unit;
A controller that controls the drive to control the drive to rotate the cutting tool clockwise or counterclockwise;
The control unit eliminates the difference between the forward cumulative drive amount of the cutting tool in the clockwise direction and the reverse cumulative drive amount of the cutting tool in the counterclockwise direction, while rotating the cutting tool in the clockwise direction. A dental treatment apparatus that performs control to rotate repeatedly in the direction and the counterclockwise direction.

Images