JP6757122B2 - Dental treatment device, its driving method, dental treatment control device - Google Patents

Description

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

In dental treatment, treatment to cut and enlarge the root canal of the tooth may be performed. For 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, and the root canal of the tooth is cut and enlarged by driving the cutting tool. Various drive controls (for example, Patent Document 1, Patent Document 2, etc.) have been proposed as drive controls in which a dental treatment device drives a cutting tool to cut and expand a root canal of a tooth.

In the dental treatment apparatus disclosed in Patent Document 1, the motor is driven to rotate forward or reverse depending on the state of the rotation direction selector switch, and the rotation of the cutting tool is rotated forward (clockwise, clockwise) or reverse. It is controlled (counterclockwise, counterclockwise). Further, the dental treatment apparatus disclosed in Patent Document 1 is provided with a load torque detection resistor for detecting a load applied to a cutting tool, and when the detected load reaches a preset standard, the motor is rotated in the normal direction. It switches to reverse rotation and controls the rotation of the cutting tool from forward rotation to reverse rotation.

In the dental treatment apparatus disclosed in Patent Document 2, the cutting tool is rotated clockwise by the first rotation angle to perform cutting, and then the cutting tool is rotated counterclockwise by the second rotation angle. It is controlled like this. Further, in the dental treatment apparatus disclosed in Patent Document 2, the first rotation angle is the second rotation angle so that the substance is discharged from the root canal surface when the cutting tool advances in the root canal. It is controlled to be larger than.

Japanese Patent No. 3264607 Special Table 2003-504113

There are various drive controls for cutting tools in dental treatment equipment, and cutting tools for clockwise rotation and counterclockwise (counterclockwise), in which a cutting tool that cuts an object to be cut is formed by turning the cutting tool clockwise. There is a cutting tool for counterclockwise rotation in which a blade that cuts an object to be cut is formed by turning it counterclockwise). Therefore, the user of the dental treatment device considers whether the cutting tool attached to the head of the handpiece is a cutting tool for right rotation or a cutting tool for left rotation, and selects a 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) is considered based on the case where the cutting tool is oriented from the side of the cutting tool attached to the head to the tip of the cutting tool. To do.

In addition, the cutting tool has a needle shape with a length of about several tens of mm, and if the user looks at the shape of the blade formed on the surface, it is a cutting tool for right rotation or a cutting tool for left rotation. It was difficult to tell. In Patent Document 1, forward rotation means rotation in a direction in which the cutting ability of the cutting tool can be exhibited, and is usually clockwise (clockwise). Similarly, reverse rotation means cutting the cutting tool. It is to rotate in a direction in which the ability cannot be exhibited, and is usually counterclockwise (counterclockwise).

In recent years, in clinical practice where a dental treatment device is used, a cutting tool for left rotation used in the dental treatment device disclosed in Patent Document 2 and a cutting tool for right rotation used in a conventional dental treatment device and the like are used. The tool may be mixed, increasing the risk of accidentally driving the cutting tool in a direction of rotation that does not match the cutting tool.

The present invention has been made to solve the above problems, and is for dentistry capable of performing drive control of a cutting tool capable of cutting the 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 device, a driving method thereof, and a dental treatment control device .

In the dental treatment apparatus according to the present invention, the head portion controls a handpiece that holds the cutting tool so as to be driveable, a drive portion that drives the cutting tool held by the head portion, and the drive portion to control the cutting tool. The first drive that rotates the cutting tool in the first direction, the second drive that rotates the cutting tool in the second direction opposite to the first direction, and the cutting tool in the first direction and the second direction. The control unit is provided with a control unit that controls one of the twist drives that are alternately rotated by the same drive amount, and the control unit performs at least one of the twist drive, the first drive, and the second drive for a predetermined period. times control is performed to perform, is between predetermined period, the first period in which the driving of the first direction of the first drive and twist drive controls the drive so as to be continuous, second drive and twist consists of a second period in which the driving of the second direction of the drive controls the drive so as to be continuous, the first accumulated drive amount of the first direction of the first period, the second period The second cumulative drive amount in the second direction is substantially the same.

Preferably, the control unit controls the twist drive and the first drive or the second drive alternately.

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

Preferably, the load detecting unit for detecting the load applied to the cutting tool is further provided, and the control unit determines the cutting rotation direction in which the cutting tool cuts the object to be cut based on the load applied to the cutting tool detected by the load detecting unit. To do.

Preferably, the control unit controls the driving after judgment, if clockwise direction to the first drive is determined by cutting rotation direction, determines the cutting direction of rotation of the drive after determining if the counter-clockwise direction Control to the second drive .

Preferably, the control unit is driven or driven so that when the load applied to the cutting tool detected by the load detection unit exceeds the reference load, the rotation of the cutting tool is in the reverse rotation direction of the cutting rotation direction for cutting the object to be cut. The drive is controlled so as to stop the rotation of the cutting tool.

Preferably, the control unit further includes a position detection unit that detects the position of the tip of the cutting tool obtained by measuring the length of the root pipe in the root pipe, and the control unit reaches the reference position at the position detected by the position detection unit. In this case, the drive is controlled so that the rotation of the cutting tool is in the direction opposite to the cutting rotation direction in which the object to be cut is cut, or the rotation of the cutting tool is stopped.

Preferably, the position detecting unit for detecting the position of the tip of the cutting tool obtained by the electric root canal length measurement in the root canal is further provided, and the control unit is a reference load according to the position detected by the position detecting unit. To change.

Preferably, it 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.

The driving method of the dental treatment device according to the present invention is the driving method of the dental treatment device that drives the cutting tool held by the head portion of the handpiece, and is the first method of rotating the cutting tool in the first direction. Drive, second drive to rotate the cutting tool in the second direction opposite to the first direction, and twist drive to rotate the cutting tool alternately in the first direction and the second direction with the same drive amount. It is possible to drive the cutting tool by either of the above, and the twist drive, the first drive, and the second drive are driven so as to be performed at least once in a predetermined period.
Between predetermined period, the first period in which the driving of the first direction of the first drive and twist drive is driven so as to be continuous, the second direction of the second drive and twist drive drive and is composed of a second period of driving to continuous, a first cumulative driving amount of the first direction of the first period, the second accumulated drive amount of the second direction of the second period Is almost the same.

In yet another dental treatment apparatus according to the present invention, the head portion controls a handpiece that holds the cutting tool so as to be driveable, a drive portion that drives the cutting tool held by the head portion, and a drive portion. A control unit that controls a drive for rotating the cutting tool in a first direction or a second direction opposite to the first direction is provided, and the control unit rotates the cutting tool in the first direction. 1 drive, 2nd drive to rotate the cutting tool in the 2nd direction opposite to the 1st direction, and twist to rotate the cutting tool alternately in the 1st direction and the 2nd direction with the same drive amount. The cutting tool is controlled so as to eliminate the difference between the first cumulative drive amount of the cutting tool in the first direction and the second cumulative drive amount of the cutting tool in the second direction by controlling one of the drives. The first drive is controlled to repeatedly rotate in the first direction and the second direction, and the drive is controlled so that the drive in the first direction of the first drive and the twist drive is continuous for a predetermined period. a first time period consists of a second period in which the driving of the second direction of the second drive and twist drive controls the drive so as to be continuous, the cumulative driving in the first direction of the first period The amount and the cumulative drive amount in the second direction of the second period are substantially the same.
Yet another dental treatment control device according to the present invention is a dental treatment device having a handpiece for driving a cutting tool and a driving unit for driving the cutting tool held by the head portion. One of the first drive that controls the drive unit of the cutting tool to rotate the cutting tool in the first direction, and the second drive that rotates the cutting tool in the second direction opposite to the first direction. It is a dental treatment control device that controls, and the control executed by the dental treatment control device includes at least one twist drive and at least one first drive that perform the first drive and the second drive of the same drive amount. The first sequence control that rotates the cutting tool in the first direction by controlling in combination in the first predetermined order, and the twist drive and at least one second drive are combined and controlled in the second predetermined order. This comprises a second sequence control for rotating the cutting tool in the second direction, and the first cumulative drive amount by the first sequence control and the second cumulative drive amount by the second sequence control are substantially the same .
Yet another dental treatment control device according to the present invention is a dental treatment device having a handpiece for driving a cutting tool and a driving unit for driving the cutting tool held by the head. The first drive that controls the drive unit to rotate the cutting tool in the first direction, the second drive that rotates the cutting tool in the second direction opposite to the first direction, and the cutting tool A dental treatment control device that controls one of twist drives that alternately rotate in one direction and a second direction with the same drive amount, and the control executed by the dental treatment control device is continuous twist. It consists of a control by a first continuous twist drive in which a first drive is sandwiched between drives and a control by a second continuous twist drive in which a second drive is sandwiched between continuous twist drives, and the first accumulation by a first continuous twist drive. The drive amount and the second cumulative drive amount by the second continuous twist drive are substantially the same .

The dental treatment apparatus according to the present invention has a positive cumulative drive amount obtained by accumulating the clockwise drive amounts of the twist drive and the forward rotation drive in a predetermined period, and a counterclockwise drive amount of the twist drive and the reverse rotation drive. Since the control is performed so that the accumulated drive amount is the same as the accumulated reverse cumulative drive amount, the drive 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. Further, in the dental treatment apparatus according to the present invention, it is not necessary to confirm the cutting direction of the cutting tool or set the rotation direction of the cutting tool.

It is the schematic which shows the structure of the appearance of the root canal treatment apparatus which concerns on Embodiment 1 of this invention. It is a block diagram which shows the structure of the function of the root canal treatment apparatus which concerns on Embodiment 1 of this invention. It is a circuit diagram which shows the circuit structure of the root canal treatment apparatus which concerns on Embodiment 1 of this invention. It is a schematic diagram which showed the rotation direction of a cutting tool. It is a figure which shows the display example 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 is driven and controlled by the root canal treatment apparatus which concerns on Embodiment 1 of this invention. It is a figure for demonstrating the rotation direction of the cutting tool which is driven and controlled by the root canal treatment apparatus which concerns on Embodiment 1 of this invention. It is a figure for demonstrating the change of the cumulative rotation angle of the cutting tool which is driven and controlled by the root canal treatment apparatus which concerns on Embodiment 1 of this invention. It is a flowchart for demonstrating the control which changes the drive by discriminating whether the cutting tool is a right rotation cutting tool or a left rotation cutting tool in the root canal treatment device which concerns on Embodiment 2 of this invention. It is a flowchart for demonstrating the control which prevents the cutting tool breakage in the root canal treatment apparatus which concerns on Embodiment 2 of this invention. It is a flowchart for demonstrating the control when the position of the cutting tool is close to the apex in the root canal treatment device which concerns on Embodiment 3 of this invention. It is a flowchart for demonstrating an example of the reference load set according to the position of a cutting tool in the root canal treatment apparatus which concerns on Embodiment 3 of this invention. It is a figure for demonstrating the rotation direction of the cutting tool controlled by the root canal treatment apparatus which concerns on modification 1 of this invention. It is a figure for demonstrating the change of the cumulative rotation angle of the cutting tool which is driven and controlled by the root canal treatment apparatus which concerns on modification 1 of this invention. It is a figure for demonstrating the change of the cumulative rotation angle of the cutting tool which is driven and controlled by the root canal treatment apparatus which concerns on modification 2 of this invention. It is the schematic which shows the structure of the 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 device according to the first embodiment of the present invention is a root canal treatment device including a root canal enlargement and root canal length measurement system incorporating a handpiece for dental root canal treatment. However, the dental treatment device according to the present invention is not limited to the root canal treatment device, and can be applied to a dental treatment device having a similar configuration.

FIG. 1 is a schematic view showing an external configuration of a root canal treatment device according to a first embodiment of the present invention. FIG. 2 is a block diagram showing a configuration of the function of the root canal treatment device according to the first embodiment of the present invention. The 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.

The handpiece 1 for dental root canal treatment includes a head portion 2, a narrow-diameter neck portion 3 connected to the head portion 2, and a grip portion 4 connected to the neck portion 3 and gripped by fingers. There is. A motor unit 6 for rotationally driving the cutting tool 5 (file, reamer, etc.) held by the head portion 2 is detachably connected to the base portion of the grip portion 4. The 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, and is for a signal for transmitting a signal to a power supply lead wire 71 for supplying power to the micromotor 7 and a root pipe length measuring circuit 12 described later. It is connected to the control box 9 via a hose 61 containing a lead wire 8 or the like. Here, the signal lead wire 8 is a part of a conductor that electrically conducts with 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 measuring circuit 12.

The control box 9 includes a control unit 11, a comparison circuit 110, a root canal length measuring 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. As shown in FIG. 1, a holder 10a for holding the instrument 10 when not in use is attached to the control box 9 on the side of the main body. Further, in the control box 9, the foot controller 18 is connected to the control unit 11, and the lead wire 19 is connected to the root canal length measuring circuit 12. Although the lead wire 19 is pulled out from the control box 9, the lead wire 19 may be pulled out 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 a state of being electrically conductive. The oral electrode 19a is the other electrode of the root canal length measuring circuit 12.

The control unit 11 controls the root canal enlargement and the entire root canal length measurement system, and the main part is composed of a microcomputer. A comparison circuit 110, a root canal length measuring 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 has a forward rotation drive for rotating the cutting tool 5 in a clockwise direction (also referred to as clockwise), a reverse rotation drive for rotating the cutting tool 5 in a counterclockwise direction (also referred to as counterclockwise), and a reverse rotation drive. One of the twist drives that alternately rotate the cutting tool 5 in the clockwise direction and the counterclockwise direction is controlled. Here, the turning direction of the cutting tool (clockwise direction or counterclockwise direction) is considered based on the case where the cutting tool 5 attached to the head portion 2 faces the tip direction of the cutting tool 5. Further, the control unit 11 changes the respective parameters of the clockwise rotation amount, the rotation speed, or the rotation angular velocity (rotational speed), the counterclockwise rotation amount, the rotation speed, or the rotation angular velocity, and changes the cutting tool 5. It is possible to control the drive to rotate.

Here, the amount of rotation is an amount representing the amount of rotation of the cutting tool 5 in the clockwise direction or the counterclockwise direction. For example, the rotation time (driving period) when the rotation angle, the number of rotations, and the rotation speed are constant. It is also called) and so on. Further, as an amount representing the size of turning the cutting tool 5 in the clockwise or counterclockwise direction, the driving of the cutting tool 5 such as the amount of driving current or the amount of torque for turning the cutting tool 5 in the clockwise or counterclockwise direction is used. In the present embodiment, the drive amount is defined as a general term including the rotation amount and the amount related to the drive. In the following description, the rotation amount will be used, but it may be replaced with the drive amount. Regarding the amount of rotation, the rotation angle, the number of rotations, the rotation time, etc. have a corresponding relationship with each other. For example, halving the number of rotations of the cutting tool 5 is the same as rotating the cutting tool 5 by 180 degrees. Further, when the rotation speed of the cutting tool 5 is constant at 120 revolutions per minute, driving the cutting tool 5 for 0.25 seconds is the same as rotating the cutting tool 5 by 180 degrees. Further, the rotation angular velocity is a quantity 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 by the cutting tool or motor, for example, it may be necessary to correct the correspondence between the control rotation time and the actual rotation angle, but the correction amount is extremely small and ignored in the practice of the present invention. can do. In the following embodiments, instead of using the rotation angular velocity, the rotation speed is used to represent the rotation speed of the cutting tool 5. The unit of rotation speed is revolutions per minute (rpm).

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

The timing for comparing the loads in the comparison circuit 110 is limited to the timing when the cutting tool 5 is rotated in the clockwise direction or the counterclockwise direction by the motor driver 13 at a predetermined rotation angle or drive 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 of comparing the loads in the comparison circuit 110 may be compared every time the cutting tool 5 is rotated, or may be compared three times while the cutting tool 5 is rotated once. Further, even if the timing for comparing the loads in the comparison circuit 110 is defined by the amount of current or the voltage value 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. You may.

The root canal length measuring circuit 12 constitutes a closed circuit with the cutting tool 5 inserted in the root canal of the tooth as one electrode and the oral electrode 19a hung on the patient's lips as the other electrode. Then, the root canal length measuring 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 from the apex position of the tooth. The distance to the tip of the cutting tool 5 can be measured. When the root canal length measuring circuit 12 detects that the tip of the cutting tool 5 has reached the apex position, the insertion amount of the cutting tool, that is, the distance from the root canal mouth to the tip of the cutting tool is defined as the root canal length. Can be done. An electric root canal length measuring method for measuring the root canal length by measuring the impedance between the cutting tool 5 and the oral electrode 19a is known, and the root canal treatment device 100 according to the first embodiment. All known electrical root canal length measuring methods can be applied to.

The motor driver 13 is connected to the micromotor 7 via a power supply lead wire 71, and controls the power supply to the micromotor 7 based on a control signal from the control unit 11. By controlling the power supply supplied to the micromotor 7, the motor driver 13 controls 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 be done.

The setting unit 14 sets a reference for controlling the rotation direction, rotation speed, rotation angle, and the like of the cutting tool 5. Further, the setting unit 14 sets a reference load to be compared with the load applied to the cutting tool 5 in the comparison circuit 110 and a timing to compare. Further, the setting unit 14 can set the apex position or a position at a predetermined distance from the apex position as a reference position in advance by using the root canal length measuring circuit 12. The root canal treatment device 100 sets a reference position in the setting unit 14 in advance, so that when the tip of the cutting tool 5 reaches this reference position, the rotation direction, rotation speed, and rotation angle of the cutting tool 5 are reached. You can change the parameters of.

The operation unit 15 can set parameters for the rotation speed and rotation angle of the cutting tool 5, as well as select whether or not to measure the root canal length. Further, the operation unit 15 can manually switch between the forward rotation drive and the reverse rotation drive, and the normal rotation drive and the twist drive.

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 of the cutting tool 5, the rotation speed, the rotation angle, and the like. Further, the information for the notification unit 17 to notify the user can be displayed on the display unit 16.

The notification unit 17 notifies the driving state of the cutting tool 5, which is currently being performed by the control unit 11, by light, sound, vibration, or the like. Specifically, the notification unit 17 is provided with an LED (Light Emitting Diode), a speaker, an oscillator, and the like as necessary to notify the driving state of the cutting tool 5, and drives in the forward rotation direction and the reverse rotation direction. You can change the color of the LED that emits light with and, or change the sound output from the speaker. If the display unit 16 can display the driving state of the cutting tool 5 to the user, the notification unit 17 does not need to be separately provided with an LED, a speaker, an oscillator, or the like.

The foot controller 18 is an operation unit that controls the drive of the cutting tool 5 by the micromotor 7 by stepping on the foot. 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 on the grip portion 4 of the handpiece 1, and the operation switch and the foot controller 18 are provided. And may be used in combination to control the drive of the cutting tool 5. Further, for example, the root canal length measuring circuit 12 detects that the cutting tool 5 has been further inserted into the root canal while the foot controller 18 is being stepped on, so that the cutting tool 5 is rotated. You may want to start.

The configuration in which the control box 9 of the root canal treatment device 100 is placed on a tray table or a side table installed on the side of the dental clinic and used has been described, but 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 treatment device 100 that controls the drive 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 treatment device 100 according to the first embodiment of the present invention. The root canal treatment device 100 shown in FIG. 3 includes parts of a micromotor 7, a control unit 11, a comparison circuit 110, a root canal length measuring circuit 12, a motor driver 13, and a setting unit 14 related to drive control of the cutting tool 5. It is illustrated.

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 also includes a configuration for setting a rotation angle (or rotation time) indicating a timing for comparing the load detected by the comparison circuit 110 with the reference load. The configuration is shown in FIG. Not shown. Further, the root canal treatment device 100 shown in FIG. 3 is connected to the main power supply 20 and the 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 operates by a control signal output from the port 11a of the control unit 11 to control the on / off of the transistor switch 13a to drive the micromotor 7. The micromotor 7 rotates in the clockwise direction or the counterclockwise direction depending on the state of the rotation direction changeover switch 13c. When the control signal output from the port 11a of the control unit 11 is, for example, a pulse waveform that is repeated at a constant cycle, the width of the pulse waveform, that is, the duty ratio is adjusted by the variable resistor 14b for setting the duty of the setting unit 14. Will be done. The micromotor 7 drives the cutting tool 5 at a rotation speed corresponding to this duty ratio.

The rotation direction changeover switch 13c is a control signal output from the port 11b of the control unit 11 to switch whether to drive the cutting tool 5 in the clockwise direction or in the counterclockwise direction. The control unit 11 detects the load applied to the cutting tool 5 by inputting the amount of current (or voltage value) at the terminal of the load detection resistor 13d into the port 11c. Therefore, the load detection resistor 13d functions as a load detection unit that detects the load applied to the cutting tool 5. The load detection unit is not limited to a configuration that detects a 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, and is not limited to, for example, driving the cutting tool 5. Another configuration may be used, such as a configuration in which a torque sensor is provided in the portion to detect a load applied to the cutting tool 5. The detected load is converted into, for example, the torque value applied to the cutting tool 5 by the control unit 11 and displayed on the display unit 16. Further, the comparison circuit 110 compares the torque value converted by the control unit 11 with the torque value set by the variable resistor 14a for setting the reference load. 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 it 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 measuring circuit 12 functions as a position detecting unit for detecting the position of the tip of the cutting tool 5 in the root canal. Further, the control unit 11 outputs the 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 the comparison result of the comparison circuit 110 with the reference load 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. The control unit 11 may combine the configurations described in the analog circuit into one microcomputer as software.

FIG. 4 is a schematic view showing the rotation direction of the cutting tool 5. In the rotation direction of the cutting tool 5 shown in FIG. 4, the drive is driven in the clockwise direction 5a to rotate the cutting tool 5 clockwise from the side of the cutting tool 5 attached to the head portion 2 toward the tip of the cutting tool 5. , Drive in the counterclockwise direction 5b, which is rotated counterclockwise, is illustrated. The twist drive is a drive in which the drive in the clockwise direction 5a and the drive in the counterclockwise direction 5b are alternately performed.

Next, the display of the liquid crystal display panel provided in the display unit 16 shown in FIG. 1 will be described. FIG. 5 is a diagram showing a display example of a liquid crystal display panel provided on 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 large number of elements for displaying the measured root canal length in detail, and the root canal length is divided into a plurality of zones in stages. A zone display unit 54 for displaying the liquid crystal, a boundary display unit 56 indicating the boundary of each zone, and an arrival rate display unit 58 for displaying the arrival rate to the apex are provided.

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" indicates 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 includes a 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 the load is divided into a plurality of zones and displayed stepwise. A zone display unit 62 is provided for this purpose. In the dot display unit 60, the elements are displayed in order from top to bottom as the load detected by the load detection resistor 13d increases.

For example, the dot display unit 60 displays the load of the cutting tool 5 applied while cutting the teeth by the element 60a indicated by the diagonal line. The dot display unit 60 may have a peak hold function and display the maximum value of the load detected within a predetermined time for a certain period of time in order to prevent the display from being frequently switched.

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

Further, the display unit 16 has a numerical display unit 64 that numerically displays the number of rotations 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), and A rotation display unit 68 for displaying the magnitude of the rotation number of the cutting tool 5 is provided.

Next, the driving of the cutting tool 5 of the root canal treatment device 100 according to the first embodiment will be described. In the root canal treatment 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 portion 2 is a cutting tool for clockwise rotation or a cutting tool for counterclockwise rotation. Drive control of the cutting tool that can be performed (also referred to as universal drive in this embodiment) is performed. Specifically, the control unit 11 controls the drive of the cutting tool 5 by each of the twist drive, the forward rotation drive, and the reverse rotation drive for a predetermined period. Then, the control unit 11 has a positive cumulative rotation amount that accumulates the clockwise rotation amount of the twist drive and the forward rotation drive, and a reverse cumulative rotation amount that accumulates the counterclockwise rotation amount of the twist drive and the reverse rotation drive. The drive of the cutting tool 5 is controlled so that More 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 treatment device 100 according to the first embodiment of the present invention. The arrow shown in FIG. 6 indicates the rotation direction of the cutting tool 5. Also in FIG. 6, the rotation direction is described with reference to the case where the tip of the cutting tool 5 is directed from the side of the cutting tool 5 attached to the head portion 2. Therefore, the arrow in the clockwise direction drives the forward rotation of the cutting tool 5, the arrow in the counterclockwise direction drives the reverse rotation of the cutting tool 5, and the arrows in the clockwise and counterclockwise directions drive the twist 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. 6 (a)). That is, the control unit 11 performs a 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 portion 2 is a cutting tool for clockwise rotation, the inner wall of the root pipe is cut when the control unit 11 rotates the cutting tool 5 by 180 degrees in the clockwise direction, and the head If the cutting tool 5 attached to the portion 2 is a left-handed cutting tool, the inner wall of the root pipe is cut when the control portion 11 rotates the cutting tool 5 by 180 degrees in the counterclockwise direction.

Next, the control unit 11 controls the drive of the cutting tool 5 by the forward rotation drive in the first quadrant (I) shown in FIG. 6 (FIG. 6 (b)). That is, the control unit 11 performs a forward rotation drive for rotating the cutting tool 5 by 90 degrees in the clockwise direction in the first quadrant (I). As a result, when the control unit 11 next performs the twist drive, 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 portion 2 is a cutting tool for clockwise rotation, the inner wall of the root pipe 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 portion 2 is a cutting tool for counterclockwise rotation, the inner wall of the root pipe is not cut so much.

Next, since the drive start position of the control unit 11 has moved to the fourth quadrant (IV), the cutting tool 5 is twist-driven in the fourth quadrant (IV) and the third quadrant (III) shown in FIG. The drive is controlled (FIG. 6 (c)). That is, the control unit 11 performs a 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. Whether the cutting tool 5 attached to the head portion 2 is a right-handed cutting tool or a left-handed cutting tool, the inner wall of the root canal can be cut by 180 degrees.

Next, the control unit 11 controls the drive of the cutting tool 5 by the forward rotation drive in the fourth quadrant (IV) shown in FIG. 6 (FIG. 6 (d)). That is, the control unit 11 performs a forward rotation drive for rotating the cutting tool 5 by 90 degrees in the clockwise direction in the fourth quadrant (IV). As a result, when the control unit 11 performs the twist drive next time, the drive start position can be moved from the fourth quadrant (IV) to the third quadrant (III). Only when the cutting tool 5 attached to the head portion 2 is a cutting tool for clockwise rotation, 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 of the control unit 11 has moved to the third quadrant (III), the cutting tool 5 is twist-driven in the third quadrant (III) and the second quadrant (II) shown in FIG. The drive is controlled (FIG. 6 (e)). That is, the control unit 11 performs a twist drive that 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. Whether the cutting tool 5 attached to the head portion 2 is a right-handed cutting tool or a left-handed cutting tool, the inner wall of the root canal can be cut by 180 degrees.

Next, the control unit 11 controls the drive of the cutting tool 5 by the forward rotation drive in the third quadrant (III) shown in FIG. 6 (FIG. 6 (f)). That is, the control unit 11 performs a forward rotation drive for rotating the cutting tool 5 by 90 degrees in the clockwise direction in the third quadrant (III). As a result, when the control unit 11 performs the twist drive next time, the drive start position can be moved from the third quadrant (III) to the second quadrant (II). Only when the cutting tool 5 attached to the head portion 2 is a cutting tool for clockwise rotation, 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 of the control unit 11 has moved to the second quadrant (II), the cutting tool 5 is twist-driven 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 a 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. Whether the cutting tool 5 attached to the head portion 2 is a right-handed cutting tool or a left-handed cutting tool, the inner wall of the root canal can be cut by 180 degrees.

Next, the control unit 11 controls the drive of the cutting tool 5 by the forward rotation drive in the second quadrant (II) shown in FIG. 6 (FIG. 6 (h)). That is, the control unit 11 performs a forward rotation drive for rotating the cutting tool 5 by 90 degrees in the clockwise direction in the second quadrant (II). As a result, when the control unit 11 next performs the twist drive, 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 portion 2 is a cutting tool for clockwise rotation, 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 moves the position where the cutting tool 5 cuts the root canal wall of the tooth by the forward rotation drive (FIG. 6B, etc.) by the twist drive so that the root canal wall of the tooth can be cut evenly. The drive of the cutting tool 5 is controlled. On the contrary, the control unit 11 cuts the root canal wall of the tooth only in the positions shown in FIG. 6 (a) (first quadrant (I) and fourth quadrant (IV)) unless the forward rotation drive is performed. The drive 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 portion 2 is a cutting tool for clockwise rotation. Even with a counterclockwise cutting tool, the inner wall of the root canal can be cut in the same way. However, since the control unit 11 performs the forward rotation drive in order to move the position where the twist drive is performed, the right rotation cutting tool is more root canal than 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. 6 and then further performs the twist drive by the reverse drive. Controls the drive of the cutting tool 5 that moves the cutting tool 5. Detailed drive control will be described below with reference to the drawings.

FIG. 7 is a diagram for explaining the rotation direction of the cutting tool 5 driven and controlled by the root canal treatment device 100 according to the first embodiment of the present invention. The drive control shown in FIG. 7 is performed after the drive control shown in FIG. The arrow shown in FIG. 7 also indicates the rotation direction of the cutting tool 5. Also in FIG. 7, the rotation direction is described with reference to the case where the tip of the cutting tool 5 is directed from the side of the cutting tool 5 attached to the head portion 2. Therefore, the arrow in the clockwise direction drives the forward rotation of the cutting tool 5, the arrow in the counterclockwise direction drives the reverse rotation of the cutting tool 5, and the arrows in the clockwise and counterclockwise directions drive the twist 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 a 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 portion 2 is a cutting tool for clockwise rotation, the inner wall of the root pipe is cut when the control unit 11 rotates the cutting tool 5 by 180 degrees in the clockwise direction, and the head If the cutting tool 5 attached to the portion 2 is a left-handed cutting tool, the inner wall of the root pipe is cut when the control portion 11 rotates the cutting tool 5 by 180 degrees in the counterclockwise direction.

Next, the control unit 11 controls the drive of the cutting tool 5 by reverse drive in the second quadrant (II) shown in FIG. 7 (FIG. 7 (j)). That is, the control unit 11 performs a reverse drive that rotates the cutting tool 5 by 90 degrees in the counterclockwise direction in the second quadrant (II). As a result, when the control unit 11 next performs the twist drive, the drive start position can be moved from the first quadrant (I) to the second quadrant (II). If the cutting tool 5 attached to the head portion 2 is a cutting tool for counterclockwise rotation, the inner wall of the root pipe is cut when the control unit 11 rotates the cutting tool 5 by 90 degrees in the counterclockwise direction. However, if the cutting tool 5 attached to the head portion 2 is a cutting tool for clockwise rotation, the inner wall of the root pipe is not cut.

Next, since the drive start position of the control unit 11 has moved to the second quadrant (II), the cutting tool 5 is twist-driven 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 a 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. Whether the cutting tool 5 attached to the head portion 2 is a right-handed cutting tool or a left-handed cutting tool, the inner wall of the root canal can be cut by 180 degrees.

Next, the control unit 11 controls the drive of the cutting tool 5 by reverse drive in the third quadrant (III) shown in FIG. 7 (FIG. 7 (l)). That is, the control unit 11 performs a reverse drive that rotates the cutting tool 5 by 90 degrees in the counterclockwise direction in the third quadrant (III). As a result, 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 third quadrant (III). Only when the cutting tool 5 attached to the head portion 2 is a left-handed cutting tool, the cutting tool 5 can cut the inner wall of the root canal by 90 degrees in the counterclockwise direction.

Next, since the drive start position of the control unit 11 has moved to the third quadrant (III), the cutting tool 5 is twist-driven 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 a twist drive that 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. Whether the cutting tool 5 attached to the head portion 2 is a right-handed cutting tool or a left-handed cutting tool, the inner wall of the root canal can be cut by 180 degrees.

Next, the control unit 11 controls the drive of the cutting tool 5 by reverse drive in the fourth quadrant (IV) shown in FIG. 7 (FIG. 7 (n)). That is, the control unit 11 performs a reverse drive that rotates the cutting tool 5 by 90 degrees in the counterclockwise direction in the fourth quadrant (IV). As a result, when the control unit 11 performs the twist drive next time, the drive start position can be moved from the third quadrant (III) to the fourth quadrant (IV). Only when the cutting tool 5 attached to the head portion 2 is a left-handed cutting tool, the cutting tool 5 can cut the inner wall of the root canal by 90 degrees in the counterclockwise direction.

Next, since the drive start position of the control unit 11 has moved to the fourth quadrant (IV), the cutting tool 5 is twist-driven 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 a 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. Whether the cutting tool 5 attached to the head portion 2 is a right-handed cutting tool or a left-handed cutting tool, the inner wall of the root canal can be cut by 180 degrees.

Next, the control unit 11 controls the drive of the cutting tool 5 by reverse drive in the first quadrant (I) shown in FIG. 7 (FIG. 7 (p)). That is, the control unit 11 performs a reverse drive that rotates the cutting tool 5 by 90 degrees in the counterclockwise direction in the first quadrant (I). As a result, when the control unit 11 next performs the twist drive, the drive start position can be moved from the fourth quadrant (IV) to the first quadrant (I). Only when the cutting tool 5 attached to the head portion 2 is a left-handed cutting tool, the cutting tool 5 can cut the inner wall of the root canal by 90 degrees in the counterclockwise direction.

Even 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 portion 2 is a cutting tool for clockwise rotation. Even with a counterclockwise cutting tool, the inner wall of the root canal can be cut in the same way. Since the control unit 11 performs reverse drive in order to move the position where twist drive is performed, the counterclockwise cutting tool has a reverse drive amount of the inner wall of the root canal as compared with the right rotation cutting tool. It will be cut. Therefore, the control unit 11 performs the drive control shown in FIG. 6 and the drive control shown in FIG. 7 in combination to equalize the forward rotation drive and the reverse rotation drive in order to move the position where the twist drive is performed. Can be done. That is, the control unit 11 performs the drive control shown in FIG. 6 and the drive control shown in FIG. 7 in combination, so that the cumulative rotation angle (positive cumulative rotation amount) in the clockwise direction and the counterclockwise direction The drive 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 driven and controlled by the root canal treatment device 100 according to the first embodiment of the present invention. The vertical axis shown in FIG. 8 represents the cumulative rotation angle, and the cumulative rotation angle in the clockwise direction is represented as a positive value, and the cumulative rotation angle in the counterclockwise direction is represented 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. The change in the cumulative rotation angle shown in FIG. 8 corresponds to the drive control shown in FIGS. 6 and 7, for example, the period (a) shown in FIG. 8 corresponds to 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), respectively.

The control unit 11 is a clock of twist drive and forward rotation drive in a drive period (period (a) to period (p) of FIG. 8) in which the drive control shown in FIG. 6 and the drive control shown in FIG. 7 are combined. The cumulative rotation angle that accumulates the rotation angles in the rotation direction is +1800 degrees, and the cumulative rotation angle that accumulates the counterclockwise rotation angles of twist drive and reverse drive is -1800 degrees, so that the cutting tool 5 is driven to be the same. Is in control.

As described above, in the root canal treatment device 100 according to the first embodiment 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, the teeth The root canal can be cut. Therefore, by using the root canal treatment device 100 according to the first embodiment of the present invention, the user can determine 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 or a cutting direction. 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 treatment device 100 according to the first embodiment of the present invention, as shown in FIG. 8, the control unit 11 cuts the cutting tool 5 in the clockwise direction and the counterclockwise direction. It can be considered 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.

Further, the causes of the cutting tool 5 being damaged (broken) are periodic fatigue and torsional fatigue. In the root canal treatment device 100 according to the first embodiment of the present invention, the control unit 11 twists and drives the rotation angle in the clockwise direction and the rotation angle in the counterclockwise direction to the same rotation angle, thereby causing torsional fatigue. Is reduced to prevent damage to the cutting tool 5. If 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 pipe wall during rotation in the clockwise direction, it is counterclockwise. It will return the same rotation angle as the rotation angle that bites in when rotating in the direction. Therefore, in the control, it is possible to release the cutting tool 5 from biting into the root canal wall when rotating in the counterclockwise direction. Therefore, even when the cutting tool 5 is rotated clockwise by twist drive, the cutting tool 5 blade bites into the root pipe wall, so that the cutting tool 5 blade bites into the root pipe wall. It is possible to reduce the shearing of the cutting tool 5 due to torsional fatigue without continuing the rotation while being restrained. On the other hand, as disclosed in Patent Document (Japanese Patent Laid-Open No. 2003-504113), the first rotation angle is the first so that the substance is discharged from the surface of the root canal when the cutting tool advances in the root canal. When the cutting tool 5 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.

Further, the tooth includes a tooth (particularly a molar) having a greatly curved root canal (curved root canal). When the root canal is enlarged with the cutting tool 5 for such a curved root canal, the root canal treatment device rotates the cutting tool 5 along the curved root canal, but it differs from the original root canal depending on the degree of curvature. The position may be cut to form a depression called a ledge. As a method of preventing the formation of this ledge, BFT (Balanced force technique) in which rotation in the cutting direction and rotation in the non-cutting direction are alternately repeated to make the rotation angle in the non-cutting direction at least equal to or greater than the rotation angle in the cutting direction. The method is well known. An example of applying this BFT method as a drive for a root canal treatment device is a twist drive 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 is twist-driven as a BFT method, simply twist-driving the root canal treatment device so that the clockwise rotation angle and the counterclockwise rotation angle are the same. There is a drawback that the cutting efficiency is poor because only the same part in the pipe is cut. Therefore, since the root canal treatment device 100 according to the first embodiment of the present invention moves the position of the twist drive by performing the forward rotation drive or the reverse drive in addition to the twist drive, only the same portion in the root canal is moved. The root canal wall of the tooth can be cut evenly without cutting to improve the cutting efficiency and prevent the formation of ledge. On the other hand, as disclosed in Patent Document (Japanese Patent Laid-Open No. 2003-504113), the first rotation angle is set so that the substance is discharged from the surface of the root canal when the cutting tool advances in the root canal. When the rotation angle is controlled to be larger than the rotation angle of 2, the formation of the ledge cannot be prevented as in the present invention.

Further, in the drive control shown in FIGS. 6 and 7, the control unit 11 has a 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 in the counterclockwise direction (reverse cumulative rotation amount) is 360 degrees (period (i) in FIG. 8), which is opposite to the positive cumulative rotation amount within a predetermined period. The drive 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 controls the drive of the cutting tool 5 so that the difference between the positive cumulative rotation amount and the reverse cumulative rotation amount is equal to or less than a predetermined angle, so that the drive is stopped at any timing of the drive control. Even so, the difference between cutting the root pipe wall with the right-handed cutting tool and cutting the root pipe wall with the left-handed cutting tool can be reduced.

The drive control shown in FIGS. 6 and 7 is an example, and is not limited to the twist drive, the forward rotation drive, and the reverse rotation drive shown in the drive control. If the control unit 11 drives and controls the cumulative rotation angle in the clockwise direction and the cumulative rotation angle in the counterclockwise direction to be the same rotation angle in a predetermined period, the twist drive is performed in any order. Forward rotation drive and reverse rotation drive may be performed. For example, the control unit 11 may continuously perform the forward rotation drive or the reverse rotation drive twice after the twist drive is continued twice. Specifically, the control unit 11 has the order of FIG. 6 (a) × 2- (b)-(d)-(e) × 2- (f)-(h), and FIG. 7 (i) × 2-. The drive of the cutting tool 5 may be controlled in the order of (j)-(l)-(m) x 2- (n)-(p).

Further, if 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 performs twist drive, forward rotation drive, and reverse rotation drive. The rotation angle of is not limited. In the drive control shown in FIGS. 6 and 7, the twist drive has a clockwise and counterclockwise rotation angle of 180 degrees, the forward rotation drive has a clockwise rotation angle of 90 degrees, and the reverse drive has a counterclockwise rotation. The rotation angle in the clockwise direction was 90 degrees. However, the control unit 11 has, for example, a twist drive with a clockwise and counterclockwise rotation angle of 270 degrees, a forward rotation drive with a clockwise rotation angle of 180 degrees, and a reverse drive with a counterclockwise rotation. The rotation angle may be 180 degrees. Each of these rotation angles may be set in consideration of the degree to which breakage due to torsional fatigue of the cutting tool can be prevented.

Further, if 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 determines the rotation angle in the clockwise direction in the twist drive. It 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 FIGS. 6 and 7, the rotation angles in the clockwise direction and the counterclockwise direction were the same as 180 degrees in the twist drive, respectively. 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 and the rotation angle in the counterclockwise direction to 180 degrees by twist drive, and the rotation angle in the clockwise direction by forward rotation drive. 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 drive. It may be set to be.

Further, the control unit 11 has explained that the cumulative rotation angle in the clockwise direction and the cumulative rotation angle in the counterclockwise direction may be the same rotation angle in a predetermined period, but the control unit 11 controls. The value to be performed is not limited to the rotation angle, and may be a drive amount (for example, a rotation angle, a number of rotations, a rotation time when the rotation speed is constant, a drive current amount, a torque amount, etc.). It should be noted that, in a predetermined period, the cumulative rotation amount in the clockwise direction and the cumulative rotation amount in the counterclockwise direction are the same rotation amount only when both rotation amounts are not necessarily exactly the same rotation amount. However, the difference between the two rotation amounts may be within a predetermined range (for example, about ± several degrees).

(Embodiment 2)
Universal that can cut the root canal of teeth regardless of whether the cutting tool 5 attached to the head portion 2 is a right-handed cutting tool or a left-handed cutting tool described in the first embodiment of the present invention. A control when the drive and the control based on the load applied to the cutting tool 5 are combined will be described.

Since the root canal treatment device according to the second embodiment uses the same configuration as the root canal treatment 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 load applied to the cutting tool 5, the control unit 11 drives the cutting tool 5 by turning it clockwise and driving the cutting tool 5 by turning it counterclockwise. It is identified whether the cutting tool 5 attached to the head portion 2 is a cutting tool for clockwise rotation or a cutting tool for counterclockwise rotation by comparing with the load applied to the head portion 2. If the control unit 11 can identify whether the cutting tool 5 attached to the head unit 2 is a right-handed cutting tool or a left-handed cutting tool, the control unit 11 is not universally driven but is suitable for a right-handed cutting tool. It is possible to cut the inner wall of the root pipe more efficiently by switching to the reverse drive suitable for the rotary cutting tool.

FIG. 9 is a flowchart for explaining a control for identifying whether the cutting tool 5 is a right-handed cutting tool or a left-handed cutting tool and switching the drive in the root canal treatment device 100 according to the second embodiment of the present invention. Is. First, the control unit 11 controls the drive of the cutting tool 5 by the universal drive described in the first embodiment (step S10).

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

Next, the control unit 11 drives the cutting tool 5 acquired in step S12 by turning the cutting tool 5 in the clockwise direction and driving the load (clockwise load) and turning the cutting tool 5 in the counterclockwise direction. It is compared with the load (counterclockwise load) that is sometimes applied (step S14). Here, by comparing the clockwise load and the counterclockwise load, the principle that the cutting tool 5 attached to the head portion 2 can be identified as a right-handed cutting tool or a left-handed cutting tool. Will be described. Since the cutting tool for clockwise rotation has a blade formed so that the object to be cut can be cut when driven by clockwise rotation drive, the load applied when rotating clockwise is large and the load applied when rotating counterclockwise is small. Become. On the other hand, since the cutting tool for left rotation has a blade formed so that the object to be cut can be cut when driven by left rotation drive, the load applied when rotating counterclockwise is large and the load applied when rotating clockwise is large. Becomes smaller. Therefore, when the cutting tool 5 attached to the head portion 2 is a cutting tool for clockwise rotation, the load applied when driven in the clockwise direction is larger than the load applied when driven in the counterclockwise direction. .. Therefore, when the load applied when the control unit 11 is driven in the clockwise direction is larger, the control unit 11 can determine that the cutting tool 5 held by the head unit 2 is a cutting tool for clockwise rotation. On the contrary, when the cutting tool 5 attached to the head portion 2 is a cutting tool for counterclockwise rotation, the load applied when driven in the counterclockwise direction is larger than the load applied when driven in the clockwise direction. Become. Therefore, when the load applied when the control unit 11 is driven in the counterclockwise direction is larger, the control unit 11 can determine that the cutting tool 5 held by the head unit 2 is a cutting tool for counterclockwise rotation.

The control unit 11 compares the clockwise load acquired in step S12 with the counterclockwise load, and 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 used is a clockwise rotation cutting tool, and the control is switched to the control for driving the cutting tool 5 by the forward rotation drive (step S16).

The control unit 11 compares the clockwise load acquired in step S12 with the counterclockwise load, and holds the head unit 2 when the clockwise load is equal to or less than the counterclockwise load (step S14: NO). It is determined that the cutting tool 5 being used is a counterclockwise cutting tool, and the control is switched to drive the cutting tool 5 by reverse drive (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 cutting tool for clockwise rotation or a cutting tool for counterclockwise rotation). If the determined cutting rotation direction is the clockwise direction (cutting tool for clockwise rotation), the drive after the determination is controlled to the forward rotation drive, and the determined cutting rotation direction is the counterclockwise direction (counterclockwise rotation). If it is a cutting tool for cutting tools), the drive after judgment is controlled to reverse drive. Therefore, the control unit 11 can cut the inner wall of the root canal more efficiently than the case where the inner wall of the 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 controls to prevent the cutting tool 5 from being damaged when the load applied to the cutting tool 5 becomes large. Specifically, in order to reduce the load applied to the cutting tool 5, the control unit 11 stops driving the cutting tool 5 or drives the cutting tool 5 in the direction opposite to the cutting rotation direction in which the cutting object is cut.

FIG. 10 is a flowchart for explaining the control for preventing the cutting tool 5 from being damaged in the root canal treatment device 100 according to the second embodiment of the present invention. First, the control unit 11 acquires the load applied to the cutting tool 5 attached to the head unit 2 (step S20). Specifically, the control unit 11 acquires a load applied when the cutting tool 5 is rotated in the clockwise direction and driven in universal drive, and a load applied when the cutting tool 5 is rotated in the counterclockwise direction and driven. To do.

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

Next, the comparison circuit 110 compares the load detected by the load detection resistor 13d with the reference load set in the variable resistor 14a for setting the reference load of the setting unit 14 (step S24). As a result, it is possible to detect the biting of the cutting tool 5 into the root canal wall, which is one of the causes of damage to the cutting tool 5. When the cutting tool 5 is driven by universal drive, the comparison circuit 110 compares the larger load 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 reverses the cutting rotation direction determined in step S22. The drive of the cutting tool 5 is controlled by (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 drive of the cutting tool 5 is stopped, or the drive of the cutting tool 5 is controlled in the direction opposite to the cutting rotation direction (step S24: NO). After step S26), the control unit 11 determines whether or not the operation for terminating the drive is input from the operation unit 15 (step S28). When the operation to end the drive is input from the operation unit 15 (step S28: YES), the control unit 11 ends the drive. When the operation for terminating the drive 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 greater than the reference load, the rotation of the cutting tool 5 is set to the reverse rotation direction of the cutting rotation direction for cutting the object to be cut. Since the drive is controlled so as to stop the drive or the rotation of the cutting tool 5, it is possible to prevent the cutting tool from being damaged by the applied load.

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

Since the root canal treatment device according to the third embodiment uses the same configuration as the root canal treatment 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 controls to switch the drive 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 is close to the apex, the control unit 11 stops driving the cutting tool 5 or drives the cutting tool 5 in the direction opposite to the cutting rotation direction in which the cutting object is 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 treatment device 100 according to the third embodiment of the present invention. First, the control unit 11 acquires the position of the cutting tool 5 obtained by the root canal length measuring circuit 12 (step S30). When the control unit 11 acquires the position of the cutting tool 5, the acquired clockwise load is compared with the counterclockwise load, and the cutting rotation direction in which the cutting tool 5 cuts the object to be cut. It is assumed that the judgment is made.

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 reverse rotation in the cutting rotation direction determined in step S22. The drive of the cutting tool 5 is controlled in a direction (counterclockwise when the cutting rotation direction is clockwise, 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), the driving of the cutting tool 5 is stopped, or the cutting tool 5 is driven in the direction opposite to the cutting rotation direction. After the control (step S34), the control unit 11 determines whether or not the operation for terminating the drive is input from the operation unit 15 (step S36). When the operation for terminating the drive is input from the operation unit 15 (step S36: YES), the control unit 11 ends the drive. When the operation for terminating the drive 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 pipe length measuring circuit 12 has reached the reference position (position of the apex), the rotation of the cutting tool 5 cuts the object to be cut. Since the drive is controlled so as to be in the reverse rotation direction of the direction or the rotation of the cutting tool 5 is stopped, the work in the vicinity of the reference position (apical position) can be safely performed.

Next, as another control based on the position of the cutting tool 5, control is performed to change the reference load set according to the position of the cutting tool 5. 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 sets the reference load according to the position of the cutting tool 5 in the root canal. By setting it, it is possible to further prevent damage to the cutting tool 5.

First, a reference load set according to the position of the cutting tool 5 in the root canal treatment device 100 according to the third embodiment will be described. In the root canal treatment 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, distance C (distance A> distance B> distance C). ), The magnitude of 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 become smaller. As a result, the root canal treatment device 100 according to the third embodiment 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 a reference load set according to the position of the cutting tool 5 in the root canal treatment device 100 according to the third embodiment of the present invention. First, the control unit 11 controls to drive the cutting tool 5 by the universal drive described in the first embodiment. Then, the control unit 11 acquires the position of the cutting tool 5 obtained by the root canal length measuring circuit 12 (step S101).

Next, the control unit 11 determines whether or not the distance from the acquired position to the reference position is equal to or greater than the distance A (step S102). When it is determined that the distance from the acquired position to the reference position is equal to or greater than the distance A (step S102: YES), the control unit 11 sets the setting unit 14 so that the reference load becomes the load A (step). S103). When 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. Determine (step S104).

When it is determined that the distance from the acquired position to the reference position is equal to or greater than the distance B (step S104: YES), the control unit 11 sets the setting unit 14 so that the reference load is the load B (step S104: YES). 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. Determine (step S106).

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

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

Since the flowchart shown in FIG. 12 is a flowchart for explaining the setting of the reference load, the driving of the cutting tool 5 is not particularly described. However, in the root canal treatment device 100 according to the third embodiment, after the reference load is set to any of the loads A to D by the setting unit 14, the cutting tool 5 is driven by the control described in the second embodiment. To control.

Further, in the flowchart shown in FIG. 12, an example in which the reference load is set to any of the load A to the load 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 so as to continuously decrease as the cutting tool 5 approaches the reference position. Further, in the flowchart shown in FIG. 12, an example of changing the reference load so as to decrease in the order from 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 be changed so as to increase in order from the load A to the load D, for example.

As described above, since the control unit 11 changes the reference load according to the position of the cutting tool 5 detected by the root canal length measuring circuit 12, the optimum reference according to the position of the cutting tool in the root canal of the tooth. The load can be set, and damage to the cutting tool 5 due to the load can be further prevented.

(Modification example 1)
In the first embodiment, the control unit 11 drives in the clockwise direction and the counterclockwise direction by the twist drive, and then drives in the clockwise direction by the forward rotation drive or in the counterclockwise direction by the reverse rotation drive. The universal drive for driving has been described. However, if the control unit 11 drives and controls the cumulative rotation angle in the clockwise direction and the cumulative rotation angle in the counterclockwise direction to be the same rotation angle in a predetermined period, the control unit 11 is twist-driven and clockwise. The drive is controlled so that the drive in the direction and the drive in the clockwise direction are continuous by the forward rotation drive, and the drive in the counterclockwise direction is driven by the twist drive and the drive in the counterclockwise direction is driven by the reverse drive. May be controlled. More detailed drive control will be described below with reference to the drawings.

FIG. 13 is a diagram for explaining the rotation direction of the cutting tool 5 controlled by the root canal treatment device 100 according to the first modification of the present invention. The arrow shown in FIG. 13 indicates the rotation direction of the cutting tool 5. Also in FIG. 13, the rotation direction is described with reference to the case where the tip of the cutting tool 5 is directed from the side of the cutting tool 5 attached to the head portion 2.

First, the control unit 11 controls the drive of the cutting tool 5 by forward rotation drive in the first quadrant (I) shown in FIG. 13, and continuously twist drives in the third quadrant (III) and the fourth quadrant (IV). Controls the drive of the cutting tool 5 (FIG. 13 (a)). That is, the control unit 11 performs a forward rotation drive (dashed arrow) for rotating the cutting tool 5 by 90 degrees clockwise from the first quadrant (I), and continuously rotates the cutting tool 180 degrees clockwise. Twist drive is performed by rotating 5 (the difference between the solid line arrow and the broken line arrow) and further rotating the cutting tool 5 by 180 degrees in the counterclockwise direction. Therefore, if the cutting tool 5 attached to the head portion 2 is a cutting tool for clockwise rotation, the inner wall of the root pipe is cut when the control unit 11 rotates the cutting tool 5 by 270 degrees in the clockwise direction, and the head If the cutting tool 5 attached to the portion 2 is a left-handed cutting tool, the inner wall of the root pipe is cut when the control portion 11 rotates the cutting tool 5 by 180 degrees in the counterclockwise direction.

Since the control unit 11 continuously drives the cutting tool 5 in the forward rotation drive and the cutting tool 5 in the twist drive, there is a difference between the rotation angle in the clockwise direction and the rotation angle in the counterclockwise direction. Occurs. Therefore, the control unit 11 can move the next drive start position from the first quadrant (I) to the fourth quadrant (IV) after the cutting tool 5 is driven by the twist drive. If the cutting tool 5 attached to the head portion 2 is a cutting tool for clockwise rotation, the inner wall of the root canal can be further cut by the amount driven by the cutting tool 5 in the forward rotation drive.

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 forward rotation drive in the fourth quadrant (IV) shown in FIG. 13 to continuously control the drive. Then, in the second quadrant (II) and the third quadrant (III), the drive of the cutting tool 5 is controlled by the twist drive (FIG. 13 (b)). That is, the control unit 11 performs forward rotation drive (arrow arrow) for rotating the cutting tool 5 by 90 degrees clockwise from the fourth quadrant (IV), and continuously rotates the cutting tool 180 degrees clockwise. Twist drive is performed by rotating 5 (the difference between the solid line arrow and the broken line arrow) and further rotating the cutting tool 5 by 180 degrees in the counterclockwise direction. Since the control unit 11 continuously drives the cutting tool 5 in the forward rotation drive and the cutting tool 5 in the twist drive, the next drive start position is set after the cutting tool 5 is driven in the twist drive. You can move from the 4th quadrant (IV) to the 3rd 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 the forward rotation drive in the third quadrant (III) shown in FIG. 13 and continuously. Then, in the first quadrant (I) and the second quadrant (II), the drive of the cutting tool 5 is controlled by the twist drive (FIG. 13 (c)). That is, the control unit 11 performs a forward rotation drive (arrow arrow) that rotates the cutting tool 5 by 90 degrees clockwise from the third quadrant (III), and continuously rotates the cutting tool 180 degrees clockwise. Twist drive is performed by rotating 5 (the difference between the solid line arrow and the broken line arrow) and further rotating the cutting tool 5 by 180 degrees in the counterclockwise direction. Since the control unit 11 continuously drives the cutting tool 5 in the forward rotation drive and the cutting tool 5 in the twist drive, the next drive start position is set after the cutting tool 5 is driven in the twist drive. You can 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 the forward rotation drive in the second quadrant (II) shown in FIG. 13 and continuously. Then, in the first quadrant (I) and the fourth quadrant (IV), the drive of the cutting tool 5 is controlled by the twist drive (FIG. 13 (d)). That is, the control unit 11 performs a forward rotation drive (dashed arrow) that rotates the cutting tool 5 by 90 degrees clockwise from the second quadrant (II), and continuously rotates the cutting tool 180 degrees clockwise. Twist drive is performed by rotating 5 (the difference between the solid line arrow and the broken line arrow) and further rotating the cutting tool 5 by 180 degrees in the counterclockwise direction. Since the control unit 11 continuously drives the cutting tool 5 in the forward rotation drive and the cutting tool 5 in the twist drive, the next drive start position is set after the cutting tool 5 is driven in the twist drive. You can move from the second quadrant (II) to the first quadrant (I).

Next, since the movement of the drive start position by the forward rotation drive has returned to the first quadrant (I), the movement is switched to the movement of the drive start position by the reverse rotation 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 reversely drives 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 arrow and broken arrow). The twist drive (difference from) is performed, and the cutting tool 5 is continuously rotated in the counterclockwise direction by 90 degrees in the second quadrant (II) (arrow arrow). Since the control unit 11 continuously drives the cutting tool 5 in the twist drive and the cutting tool 5 in the reverse drive, the next drive start position is the first after the cutting tool 5 is driven in the reverse drive. You can move from the first quadrant (I) to the second quadrant (II).

Next, since the drive start position of the control unit 11 has moved to the second quadrant (II), the cutting tool 5 is twist-driven 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 the 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). The twist drive (difference from) is performed, and the cutting tool 5 is continuously rotated in the counterclockwise direction by 90 degrees in the third quadrant (III) (arrow arrow). Since the control unit 11 continuously drives the cutting tool 5 in the twist drive and the cutting tool 5 in the reverse drive, the next drive start position is the first after the cutting tool 5 is driven in the reverse drive. You can move from the second quadrant (II) to the third quadrant (III).

Next, since the drive start position of the control unit 11 has moved to the third quadrant (III), the cutting tool 5 is twist-driven 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 the reverse drive 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 arrow and broken arrow). The twist drive (difference from) is performed, and the cutting tool 5 is continuously rotated in the counterclockwise direction by 90 degrees in the fourth quadrant (IV) (arrow arrow). Since the control unit 11 continuously drives the cutting tool 5 in the twist drive and the cutting tool 5 in the reverse drive, the next drive start position is the first after the cutting tool 5 is driven in the reverse drive. You can move from the 3rd quadrant (III) to the 4th quadrant (IV).

Next, since the drive start position of the control unit 11 has moved to the fourth quadrant (IV), the cutting tool 5 is twist-driven 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). The twist drive (difference from) is performed, and the cutting tool 5 is continuously rotated in the counterclockwise direction by 90 degrees in the first quadrant (I) (arrow arrow). Since the control unit 11 continuously drives the cutting tool 5 in the twist drive and the cutting tool 5 in the reverse drive, the next drive start position is the first after the cutting tool 5 is driven in the reverse drive. You can move from the 4th quadrant (IV) to the 1st quadrant (I).

FIG. 14 is a diagram for explaining a change in the cumulative rotation angle of the cutting tool 5 driven and controlled by the root canal treatment 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 represented as a positive value, and the cumulative rotation angle in the counterclockwise direction is represented as a negative value. The horizontal axis shown in FIG. 14 represents the driving period, and represents the period during which the driving control shown in FIG. 13 is executed. The change in the cumulative rotation angle shown in FIG. 14 corresponds to each drive control shown in FIG. 13, for example, the period (a) shown in FIG. 14 corresponds to the drive control shown in FIG. 13 (a). The period (e) shown in 14 corresponds to the drive control shown in FIG. 13 (e), respectively. 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 represented by a broken line.

The control unit 11 also accumulates the clockwise rotation angles of the twist drive and the forward rotation drive during the drive period of the drive control shown in FIG. 13 (periods (a) to (h) of FIG. 14). The drive 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 and becomes the same.

As described above, in the root canal treatment device 100 according to the first modification of the present invention, the control unit 11 controls the drive so that the clockwise drive of the forward rotation drive and the twist drive is continuous. The drive is controlled so that the reverse drive and the twist drive in the counterclockwise direction are continuous. Further, in the root canal treatment device 100 according to the first modification of the present invention, the control unit 11 rotates in a predetermined period in which the cumulative rotation angle in the clockwise direction and the cumulative rotation angle in the counterclockwise direction are the same. Since the drive is controlled so as to have an angle, 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 cutting tool for clockwise rotation or a cutting tool for counterclockwise rotation. it can.

In addition, the configuration in which the forward rotation drive or the reverse rotation drive and the twist drive are continuous, the forward rotation drive is a part of the clockwise drive of the twist drive, and the reverse rotation drive is the counterclockwise drive of the twist drive. It may be considered as an integral drive as a part of. Specifically, the control unit 11 rotates the cutting tool 5 in the clockwise direction by the first rotation angle, and then rotates the cutting tool 5 in the counterclockwise direction by a second rotation angle smaller than the first rotation angle. A one-twist drive and a series of second twist drives in which the cutting tool 5 is rotated in the counterclockwise direction by the first rotation angle and then rotated in the clockwise direction by the second rotation angle are performed. Further, the control unit 11 controls the drive so that the number of drives of the first twist drive and the number of drives of the second twist drive are the same.

Explaining with the example of FIG. 13, the control unit 11 rotates the cutting tool 5 by 270 degrees in the clockwise direction and then rotates by 180 degrees in the counterclockwise direction, and a series of first twist drives and cutting. After rotating the tool 5 counterclockwise by 270 degrees, a series of second twist drives are performed to rotate the tool 5 by 180 degrees in the clockwise direction. Further, in the control unit 11, the number of times of driving the first twist drive (FIGS. 13 (a) to (d)) and the number of times of driving the second twist drive (FIGS. 13 (e) to (h)) are the same number of 4 The drive is controlled so that the number of times is increased.

(Modification 2)
In the first modification, the control unit 11 controls the drive so that the clockwise drive and the clockwise drive are continuous by the twist drive, and the counterclockwise drive and the reverse rotation are performed by the twist drive. An example of controlling the drive so that the drive is continuous with the drive in the counterclockwise direction has been described. Of course, if the control unit 11 is driven and controlled 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 is twist-driven and clockwise. Even if the drive is controlled so that the drive in the direction and the drive in the clockwise direction are not continuous, and the drive in the counterclockwise direction is not continuous with the twist drive and the drive in the counterclockwise direction is not continuous with the reverse drive. Good.

FIG. 15 is a diagram for explaining a change in the cumulative rotation angle of the cutting tool 5 driven and controlled by the root canal treatment 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 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. The change in the cumulative rotation angle shown in FIG. 15 corresponds to the drive control shown in FIGS. 6 and 7, for example, the period (a) shown in FIG. 15 corresponds to the drive control shown in FIG. 6 (a). The period (i) shown in FIG. 15 corresponds to the drive control shown in FIG. 7 (i), respectively.

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, and is forward rotation drive, reverse rotation drive, and twist so that the clockwise or counterclockwise drive is not continuous. The order of drive rotation directions is changed. Specifically, in the period (a) shown in FIG. 15, the twist drive is performed in which the cutting tool 5 is rotated in the clockwise direction and then the cutting tool 5 is rotated in the counterclockwise direction. In the period (c) after the forward rotation drive is performed, the twist drive is performed in which 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), the reverse rotation drive is performed so as not to be continuous with the drive in the clockwise direction 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 repeated.

In the control unit 11, the cumulative rotation angle obtained by accumulating the clockwise rotation angles of the twist drive and the forward rotation drive is +1800 even in the drive period (period (a) to period (p)) of the drive control shown in FIG. The drive of the cutting tool 5 is controlled so that the cumulative rotation angle obtained by accumulating the rotation angles in the counterclockwise direction of the twist drive and the reverse drive is -1800 degrees, which is the same. Therefore, even in the root canal treatment device 100 according to the second modification 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, the tooth The root canal wall can be cut.

(Modification 3)
Further, the drive control of the root canal treatment device according to the present invention is the first pattern in which the drive for rotating the cutting tool 5 in the clockwise direction and the drive for rotating the cutting tool 5 in the counterclockwise direction are combined, and the cutting tool 5 is used. Cumulative amount of rotation in the clockwise direction and counterclockwise rotation after a certain period of time has passed since the start of driving by the second pattern that combines the drive that rotates in the clockwise direction and the drive that rotates in the counterclockwise direction. It can also be regarded as drive control that makes the difference from the cumulative rotation amount in the direction less than a predetermined amount.

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 in the clockwise direction, 180 degrees in the counterclockwise direction, and 90 degrees in the clockwise direction. As the second pattern, a pattern of turning the cutting tool 5 by 180 degrees in the clockwise direction, 180 degrees in the counterclockwise direction, and 90 degrees in the counterclockwise direction is prepared. Then, in the drive control shown in FIGS. 6 and 7, the difference in cumulative rotation angles is 360, which is the maximum value at the timing (period (i) shown in FIG. 8) in which the first pattern is repeated four times and then the second pattern is performed. It becomes the degree.

Further, in the drive control shown in FIG. 13, the first pattern is 270 degrees in the clockwise direction, 180 degrees in the counterclockwise direction, and the cutting tool 5 is rotated, and the second pattern is 180 degrees in the clockwise direction, counterclockwise. A pattern for turning the cutting tool 5 at 270 degrees in the clockwise direction is prepared. Then, in the drive control shown in FIG. 13, the difference in the cumulative rotation angles becomes 360 degrees, which is the maximum value, at the timing when the second pattern is performed after repeating the first pattern four times (period (i) shown in FIG. 8). ..

(Other variants)
Further, 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 thereto. It may be configured as a cordless type root canal treatment device instead of the one. FIG. 16 is a schematic view showing the configuration of a cordless type root canal treatment device. In the cordless type root canal treatment device shown in FIG. 16, a battery pack, a micromotor, and a control system corresponding to a control box are incorporated in the grip portion 4 of the handpiece 1, and various operation portions are provided on the surface of the grip portion 4. .. Further, the cordless type root canal treatment device is provided with a display portion 16 on the grip portion 4. Therefore, the user does not change the line of sight significantly, and whether the cutting tool 5 is driven by the forward rotation drive or the reverse rotation drive, what is the current position of the cutting tool 5, and the cutting tool. Information such as how much the load is applied to 5 and what the number of rotations is can be confirmed. Although not shown, the lead wire 19 for the oral electrode 19a may be configured to be led out from the grip portion 4.

Further, in the root canal treatment 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 present invention is not limited to this. It may be another drive source such as.

In the root canal treatment device 100 according to the first to third embodiments, at least one set value of the reference load and the set value of the rotation speed (rotational speed in the forward rotation direction or the reverse rotation direction) is stored in FIG. The configuration may be set by the setting unit 14 shown in 1. 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 gender and height of the patient. Further, the setting unit 14 stores the user's favorite reference load and setting values such as the rotation speed as a recipe in advance, and stores the optimum reference load for each patient and the setting values such as the rotation speed as a recipe in advance. It may be configured to be allowed.

Further, in the root canal treatment device 100 according to the first to third embodiments, set values such as a reference load and a rotation speed are set in advance in the setting unit 14 as a recipe according to the type of the cutting tool 5 held in the head unit 2. By reading from the setting unit 14 a recipe that has been stored and stored based on the type of cutting tool 5 held by the user in the head unit 2, setting 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 capable of identifying the type of the cutting tool 5 in the head unit 2, and reads a recipe stored based on the detection result from the sensor to perform a reference load and rotation. It may be configured to set setting values such as speed.

It should be considered that the embodiments disclosed this time are exemplary in all respects and not restrictive. The scope of the present invention is shown by the scope of claims, not the above description, and is intended to include all modifications within the meaning and scope equivalent to the scope of claims.

1 Handpiece, 2 Head, 3 Neck, 4 Grip, 5 Cutting Tool, 6 Motor Unit, 7 Micromotor, 8 Signal Leads, 9 Control Box, 10 Instrument, 10a Holder, 11 Control, 11a to 11d ports, 12 root pipe 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 supply, 21 main switch, 52,60 dot display unit, 54,62 zone display unit, 56 boundary display unit, 58 Reach rate display, 60a element, 61 hose, 64 numerical display, 68 rotation display, 71 power supply lead wire, 100 root tube treatment device, 110 comparison circuit.

Claims (14)

A handpiece that holds the cutting tool in a driveable manner on the head,
A drive unit that drives the cutting tool held by the head unit,
A first drive that controls the drive unit to rotate the cutting tool in the first direction, a second drive that rotates the cutting tool in a second direction opposite to the first direction, and the above. It is provided with a control unit that controls one of twist drives in which the cutting tool is alternately rotated in the first direction and the second direction with the same drive amount.
The control unit
Control is performed to perform each of the twist drive, the first drive, and the second drive at least once in a predetermined period.
Wherein the inter predetermined period, the first period in which the first driving and the driving of the first direction of said twist drive controls the drive so as to continue, the twist and the second drive consists of a second period in which the driving of the second direction among the drive controls the drive so as to be continuous,
A dental treatment apparatus in which the first cumulative drive amount in the first direction in the first period and the second cumulative drive amount in the second direction in the second period are substantially the same. The dental treatment apparatus according to claim 1, wherein the control unit controls the twist drive and the first drive or the second drive so as to alternately drive the twist drive. The control unit controls driving so that the maximum difference between the first cumulative driving amount and the second cumulative driving amount is equal to or less than a predetermined angle within the predetermined period. 1 or the dental treatment apparatus according to claim 2. Further provided with a load detection unit for detecting the load applied to the cutting tool,
One of claims 1 to 3, wherein the control unit determines a cutting rotation direction in which the cutting tool cuts an object to be cut based on a load applied to the cutting tool detected by the load detecting unit. The dental treatment device described in. The control unit controls the drive after the determination to be the first drive if the determined cutting rotation direction is the clockwise direction, and performs the drive after the determination if the determined cutting rotation direction is the counterclockwise direction. The dental treatment apparatus according to claim 4, which is controlled by the second drive. The control unit drives the cutting tool so that the rotation of the cutting tool is opposite to the cutting rotation direction when the load applied to the cutting tool detected by the load detection unit exceeds the reference load. The dental treatment device according to claim 4 or 5, wherein the drive is controlled so as to stop the rotation. Further provided with a position detection unit for detecting the position of the tip of the cutting tool in the root canal obtained by measuring the length of the root canal.
When the position detected by the position detection unit reaches the reference position, the control unit drives or stops the rotation of the cutting tool so that the rotation of the cutting tool is in the direction opposite to the cutting rotation direction. The dental treatment apparatus according to any one of claims 4 to 6, wherein the drive is controlled. Further provided with a position detection unit for detecting the position of the tip of the cutting tool in the root canal obtained by measuring the length of the root canal.
The dental treatment apparatus according to claim 6, wherein the control unit changes the reference load according to a position detected by the position detection unit. The dental treatment according to claim 5, 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. apparatus. A method of driving a dental treatment device that drives a cutting tool held by the head of a handpiece.
A first drive for rotating the cutting tool in a first direction, a second drive for rotating the cutting tool in a second direction opposite to the first direction, and a second drive for rotating the cutting tool in the first direction. It is possible to drive the cutting tool by either twist drive in which the cutting tool is alternately rotated in the same drive amount in the second direction.
A drive is performed so that each of the twist drive, the first drive, and the second drive is performed at least once in a predetermined period.
The period of said predetermined includes a first period in which the first driving and the driving of the first direction of said twist drive is driven so as to be continuous, the twist drive and the second drive and driving of the second direction among consists a second period of driving so as to continue,
A method for driving a dental treatment device, wherein the first cumulative drive amount in the first direction in the first period and the second cumulative drive amount in the second direction in the second period are substantially the same. A handpiece that holds the cutting tool in a driveable manner on the head,
A drive unit that drives the cutting tool held by the head unit,
A control unit that controls the drive unit to control the drive for rotating the cutting tool in a first direction or a second direction opposite to the first direction is provided.
The control unit
A first drive that rotates the cutting tool in the first direction, a second drive that rotates the cutting tool in the second direction opposite to the first direction, and the first drive that rotates the cutting tool in the first direction. It is controlled to be one of twist drive which rotates with the same drive amount alternately in the direction of the above and the second direction.
The cutting tool is subjected to the first cumulative drive amount so as to eliminate the difference between the first cumulative drive amount of the cutting tool in the first direction and the second cumulative drive amount of the cutting tool in the second direction. Control to repeatedly rotate in the direction and the second direction,
The predetermined period includes a first period for controlling the drive so that the first drive and the drive in the first direction of the twist drive are continuous, and the second drive and the twist drive. and driving of the second direction among consists a second period for controlling the drive so as to be continuous,
A dental treatment apparatus in which the cumulative drive amount in the first direction in the first period and the cumulative drive amount in the second direction in the second period are substantially the same. The cutting tool is controlled by controlling the driving portion of a dental treatment device having a handpiece that holds the cutting tool in a driveable manner and a driving portion that drives the cutting tool held in the head portion. With a dental treatment control device that controls either a first drive for rotating the cutting tool in the first direction or a second drive for rotating the cutting tool in a second direction opposite to the first direction. There,
The control performed by the dental treatment control device is
The cutting tool is controlled by combining at least one twist drive that performs the first drive and the second drive with the same drive amount and at least one first drive in a first predetermined order. a first sequence control for rotating the direction of the rotating the cutting tool in the second direction by controlling the second predetermined order in combination with at least one of said second drive and the twist drive It consists of a second sequence control,
A dental treatment control device in which the first cumulative drive amount by the first sequence control and the second cumulative drive amount by the second sequence control are substantially the same . The cutting tool is controlled by controlling the driving portion of a dental treatment device having a handpiece that holds the cutting tool in a driveable manner and a driving portion that drives the cutting tool held in the head portion. A first drive that rotates the cutting tool in the first direction, a second drive that rotates the cutting tool in a second direction opposite to the first direction, and the cutting tool in the first direction and the first. It is a dental treatment control device that controls one of the twist drives that alternately rotate in two directions with the same drive amount.
The control performed by the dental treatment control device is
It is composed of a control by a first continuous twist drive in which the first drive is sandwiched between the continuous twist drives and a control by a second continuous twist drive in which the second drive is sandwiched between the continuous twist drives .
A dental treatment control device in which the first cumulative drive amount due to the first continuous twist drive and the second cumulative drive amount due to the second continuous twist drive are substantially the same . The dental treatment control device according to claim 12, wherein the rotation speed of the cutting tool is controlled to be constant by the drive unit.

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