KR101712498B1 - Drive control method for handpice, system using the same - Google Patents

Drive control method for handpice, system using the same Download PDF

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Publication number
KR101712498B1
KR101712498B1 KR1020150147877A KR20150147877A KR101712498B1 KR 101712498 B1 KR101712498 B1 KR 101712498B1 KR 1020150147877 A KR1020150147877 A KR 1020150147877A KR 20150147877 A KR20150147877 A KR 20150147877A KR 101712498 B1 KR101712498 B1 KR 101712498B1
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KR
South Korea
Prior art keywords
handpiece
information
control unit
dimensional
generating
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KR1020150147877A
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Korean (ko)
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김양수
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김양수
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C1/00—Dental machines for boring or cutting ; General features of dental machines or apparatus, e.g. hand-piece design
    • A61C1/08—Machine parts specially adapted for dentistry
    • A61C1/18—Flexible shafts; Clutches or the like; Bearings or lubricating arrangements; Drives or transmissions
    • A61C1/185—Drives or transmissions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C1/00—Dental machines for boring or cutting ; General features of dental machines or apparatus, e.g. hand-piece design
    • A61C1/08—Machine parts specially adapted for dentistry
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C11/00—Dental articulators, i.e. for simulating movement of the temporo-mandibular joints; Articulation forms or mouldings
    • A61C11/08—Dental articulators, i.e. for simulating movement of the temporo-mandibular joints; Articulation forms or mouldings with means to secure dental casts to articulator
    • A61C11/081—Dental articulators, i.e. for simulating movement of the temporo-mandibular joints; Articulation forms or mouldings with means to secure dental casts to articulator with adjusting means thereof
    • A61C11/084—Dental articulators, i.e. for simulating movement of the temporo-mandibular joints; Articulation forms or mouldings with means to secure dental casts to articulator with adjusting means thereof for 3D adjustment, e.g. Ball-and-socket
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C19/00—Dental auxiliary appliances
    • A61C19/04—Measuring instruments specially adapted for dentistry

Abstract

A handpiece drive control method and a drive control apparatus using the same are disclosed. The present invention also provides a handpiece driving control method comprising: a control unit generating three-dimensional oral image information; The control unit generating position information of the handpiece; Generating three-dimensional coordinate information by matching the three-dimensional oral image information with the position information of the handpiece; And causing the control unit to move the handpiece based on the three-dimensional coordinate information. As a result, the anesthesia performed in preparation for the surplus tooth removal can be omitted, the amount of tooth deletion by the tooth deletion procedure can be reduced, and the time for completion of the final prosthesis after tooth removal can be shortened, can do.

Description

TECHNICAL FIELD [0001] The present invention relates to a handpiece driving control method and a driving control method using the same,

The present invention relates to a handpiece driving control method and a driving control apparatus using the same, and more particularly, to a handpiece driving control method and apparatus for driving a handpiece to perform a tooth erasure procedure based on a user's three- And a drive control device using the same.

Prosthetics refers to the restoration of function by replenishing artifacts against a large substantial defect in the dental area, or a reduction in oral function due to tooth loss, or morphological abnormality.

If tooth decays or breaks due to tooth decay, gum disease, or accident due to tooth decay, prosthetic treatment may be performed to restore the problematic tooth to its original tooth form.

Types of dental prosthesis are classified into fixed prosthesis and removable prosthesis. Fixed prosthesis is made of a structure that removes about one or two teeth when the tooth is missing, but when the tooth is damaged or broken and needs to be reinforced, it is necessary to make an artificial tooth. In the case of removable prosthesis, . The types of fixed prostheses include crowns, bridges, resins, inlays, and amalgam. The crown is a prosthesis that uses gold or ceramics to cover the teeth after tooth nerve treatment to prevent the teeth from breaking. When the teeth are extracted with cavities or trauma, the bridge is used to shave off adjacent teeth on both sides. A prosthesis that connects an artificial tooth in the middle of a leg, and a resin, an inlay, and an amalgam are prosthesis that carves out a portion of a tooth due to cavities and fills it with resin, inlay, and amalgam.

The crown and bridge prosthetic treatment process is as follows.

First, remove the tooth as much as the space in which the prosthesis is inserted. When crowns and bridges are placed over existing teeth, they must not be more natural than the original natural teeth, thus removing the tooth enamel and dentin by the amount of crown or bridge. Tooth removal removes the space in which the prosthesis is to be mounted and gives the prosthesis maintenance force. Impression and occlusion are performed, and a temporary crown is made. Impression preparation is to record the shape of teeth and oral tissues required for dental treatment such as restoration of teeth, prosthesis, etc., and a crown or bridge is made after reproducing the present tooth condition as a model. The occlusion is reproduced as a model to confirm the occlusal state of the upper and lower teeth. The temporary crown is covered until the final restoration is attached to the tooth that has removed the crown or crown. The temporary crown protects the teeth to be treated, prevents secondary infection, and prevents tooth movement until the final prosthesis is installed.

After making temporary crown, prosthesis such as crown or bridge will be made. The prosthesis is usually fabricated in a dental prosthodontic workshop. Once the crown or bridge has been fabricated, the permanently bonded cement is used to attach the prosthesis to the removed tooth.

However, as described above, since the crown and bridge prosthetic treatment process is divided into several stages, the patient has had to visit the hospital several times until the first prosthesis is inserted and the final prosthesis is installed. It takes a long time to complete. In addition, the state and form of the removed tooth to be covered by the crown or bridge are closely related to the bonding force between the tooth and the prosthesis, and the period during which the prosthesis can be used without being broken or broken. The crown or the bridge is broken or is easily broken when the tooth is removed by a medical person having low experience or proficiency.

Therefore, in order to alleviate the inconvenience of the patient, it is necessary to research and develop a new treatment method that can greatly shorten the treatment time and the treatment period.

Korean Patent No. 10-0938909

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a three-dimensional oral image which is based on a shape of a tooth existing in a patient's mouth, And a driving control device using the same.

It is a further object of the present invention to provide a method and an apparatus for correcting tooth discomfort by reducing the amount of unnecessary teeth to be removed and shortening the time for preparing the implant or performing the procedure, And a drive control device using the same.

According to an aspect of the present invention, there is provided a handpiece driving control method including: generating a three-dimensional oral image information by a controller; The control unit generating position information of the handpiece; Generating three-dimensional coordinate information by matching the three-dimensional oral image information with the position information of the handpiece; And causing the control unit to move the handpiece based on the three-dimensional coordinate information.

The step of generating the three-dimensional oral image information may include the steps of: acquiring a plurality of oral images by imaging an oral cavity portion of a patient; The oral image pickup unit transmitting the plurality of oral images to the control unit; And generating the three-dimensional oral image information including the number of teeth present in the mouth of the patient, the position information of each tooth, and the shape information based on the delivered plurality of oral images, .

Wherein the step of generating the position information of the handpiece comprises the steps of: individually assigning an identification number to each tooth existing in the oral cavity of the patient based on the three-dimensional oral image information; Measuring a distance to at least three or more specific teeth specified by the control unit among the teeth present in the oral cavity of the patient and transmitting the measured distance to the control unit; And generating the position information of the handpiece based on the position information of the specific tooth and the distance between the specific tooth and the specific tooth.

Wherein the step of generating the position information of the handpiece based on the position information of the specific tooth and the distance between the specific tooth and the specific tooth includes the steps of the second detection unit provided on the handpiece collecting the three- , The control unit can integrate the position information and the 3D orientation information.

Wherein the step of generating the position information of the handpiece includes the steps of: determining whether the handpiece has reached a preset target point, wherein the first detecting unit provided on the handpiece; Transmitting to the control unit whether the first detection unit has reached the preset target point; And generating the position information of the handpiece based on whether or not the predetermined target point has been reached by the controller.

The step of delivering the preset target point to the control unit may include measuring a distance to the preset target point when the first detection unit determines that the predetermined target point has not been reached, And may transmit the preset target point to the controller together with the arrival of the preset target point.

Wherein the step of moving the handpiece based on the three-dimensional coordinate information includes moving the handpiece through a driving unit including a plurality of axes of at least three axes or more, and the control unit moves the handpiece In the case of moving, the zero point can be adjusted based on the three-dimensional coordinate information.

Meanwhile, the handpiece driving control device according to an embodiment of the present invention may include: a spherical image sensing unit for performing the above-described handpiece driving control method and collecting the oral image of the patient; A detector for measuring a distance between the handpiece and the specific tooth or collecting the three-dimensional orientation information of the handpiece; And a controller for generating the three-dimensional oral image information and the position information of the handpiece, and generating the three-dimensional coordinate information by matching the generated three-dimensional oral image information of the patient with the position information of the handpiece; .

As a result, the anesthesia performed in preparation for the surplus tooth removal can be omitted, the amount of tooth deletion by the tooth deletion procedure can be reduced, and the time for completion of the final prosthesis after tooth removal can be shortened, can do.

1 is a block diagram showing a configuration of a handpiece drive control apparatus according to an embodiment of the present invention.
2 is a flowchart illustrating a handpiece driving control method according to an embodiment of the present invention.
FIG. 3 is a view showing a screen on which three-dimensional oral image information is output by using a handpiece driving control method according to an embodiment of the present invention.
4 is a view for explaining a method of generating position information of a handpiece according to another embodiment of the present invention.
5 is a flowchart illustrating a handpiece driving control method according to an embodiment of the present invention in more detail.
FIG. 6 is a view for explaining a method of generating three-dimensional oral image information according to an embodiment of the present invention.
7 is a view for explaining a method of generating position information of a handpiece in the handpiece driving control method according to an embodiment of the present invention.
FIG. 8 is a flowchart illustrating a handpiece driving control method according to another embodiment of the present invention in more detail.
9 is a view for explaining a method of generating position information of a handpiece according to another embodiment of the present invention.

Hereinafter, the present invention will be described in detail with reference to the drawings. The embodiments described below are provided by way of example so that those skilled in the art will be able to fully understand the spirit of the present invention. The present invention is not limited to the embodiments described below and may be embodied in other forms. In order to clearly illustrate the present invention, parts not related to the description are omitted from the drawings, and the width, length, thickness,

And can be expressed as long. Like reference numerals refer to like elements throughout the specification.

1 is a block diagram showing a configuration of a handpiece drive control apparatus according to an embodiment of the present invention.

The handpiece drive control apparatus according to the present embodiment is provided for driving and controlling the robot handpiece to perform the tooth erasure procedure using the three-dimensional oral image generated based on the shape of the teeth present in the patient's mouth.

To this end, the handpiece driving control apparatus includes a mouth imaging section 100, a detection section 200, a control section 300, and a driving section 400. [

The oral image pickup section 100 is provided for collecting a mouth image of a patient.

Specifically, the oral image pickup unit 100 picks up various parts of the oral cavity of the patient, collects a plurality of oral images, and transfers the images to the controller 300.

Here, the oral imaging unit 100 may be implemented with an imaging device such as a mouth scanner, and a more detailed description of the oral imaging unit 100 will be described later with reference to FIGS. 2 to 3, It will be omitted here.

The detection unit 200 is provided for measuring the distance between the handpiece and the specific tooth or collecting the three-dimensional orientation information of the handpiece.

Specifically, the detection unit 200 may be provided on the handpiece and may measure the distance between the handpiece and the specific tooth specified by the control unit 300, and may transmit the measured distance to the control unit 300.

Further, the detection unit 200 may collect the three-dimensional orientation information on the handpiece and transmit the three-dimensional orientation information to the control unit 300.

Here, the detection unit 200 may include a first detection unit 210 for measuring a distance such as an infrared distance sensor and a second detection unit 220 for measuring a direction such as a three-dimensional acceleration sensor.

In addition, the detection unit 200 will be described later in more detail, and will not be described here.

The control unit 300 is provided for generating three-dimensional coordinate information.

More specifically, the controller 300 receives the plurality of oral images from the oral image pickup unit 100, and generates three-dimensional oral image information based on the received plurality of oral images.

Then, the controller 300 measures the distance to the specific tooth from the detector 200 and transmits the measured distance, and generates the position information of the handpiece based on the distance.

At this time, if the detecting unit 200 further transmits the 3D orientation information of the handpiece, the controller 300 may integrate the 3D orientation information into the position information of the handpiece.

Accordingly, the control unit 300 can generate the three-dimensional coordinate information by matching the generated three-dimensional oral image information of the patient with the position information of the handpiece.

The control unit 300 may control the driving unit 400 based on the generated three-dimensional coordinate information to perform the tooth deletion procedure.

The driving unit 400 is provided for performing the tooth removal procedure by moving and rotating the handpiece.

Specifically, for example, the driving unit 400 can be implemented so that movement of the handpiece in the x-axis, y-axis, and z-axis and rotation of the handpiece can be realized.

Accordingly, the handpiece driving control apparatus according to the present invention is capable of reducing the amount of unnecessary tooth deletion, shortening the time for preparing the implant or performing the procedure, by performing accurate tooth erasure without depending on the skill of a physician, Can be reduced.

FIG. 2 is a flowchart illustrating a handpiece driving control method according to an embodiment of the present invention. FIG. 3 is a flow chart illustrating a method of controlling a handpiece driving control method according to an exemplary embodiment of the present invention, 4 is a view for explaining a method of generating position information of a handpiece according to another embodiment of the present invention.

Hereinafter, the handpiece driving control method according to the present embodiment will be briefly described with reference to FIG. 2 to FIG.

In the handpiece driving control method according to the present embodiment, first, the oral image pickup unit 100 picks up various parts of the oral cavity of the patient, collects a plurality of oral images, and transmits the collected oral images to the control unit 300, Dimensional mouth image information based on the plurality of oral images (S210).

Here, the three-dimensional oral image information may be output to a program such as CAD as shown in FIG.

When the first detection unit 210 measures the distance between the handpiece and the specific tooth and transmits the distance to the control unit 300, the control unit 300 generates position information of the handpiece based on the measured distance.

At this time, if the second detection unit 220 further transmits the 3D orientation information of the handpiece, the control unit 300 may integrate the 3D orientation information into the position information of the handpiece.

4, the second detecting unit 220 detects the three-dimensional orientation of the handpiece and transmits the detected three-dimensional orientation to the controller 300 to generate three-dimensional orientation information. (Three-dimensional accelerometer) for simultaneously detecting parallel accelerations.

Here, since the acceleration is represented by a vector, it is output as a vector sum of angular acceleration components in three directions.

On the other hand, the controller 300 generates three-dimensional coordinate information based on the generated three-dimensional oral image information and the position information of the handpiece (S230), and controls the handpiece based on the three-dimensional coordinate information (S240) . ≪ / RTI >

Here, the three-dimensional coordinate information is information obtained by setting reference coordinates (0, 0, 0) through the control unit 300 and generating position information of each tooth and position information of the handpiece in three-dimensional coordinates.

In the handpiece driving control method according to the present embodiment, the control unit 300 generates the three-dimensional oral image information based on the plurality of oral images through the detection unit 200, And the position information of the handpiece is generated on the basis of the measurement result. The method may be implemented by various methods except for the method described above.

For example, the control unit 300 may compare the plurality of oral images with the tooth template image to generate three-dimensional oral image information about the oral cavity of the patient.

Specifically, the position information of the maxillary right central incisor included in the tooth template image, the information about the central incisor on the upper right side, such as the shape information, and the plurality of oral images are matched to determine whether there is a central incisor on the right upper side of the patient, Shape information can be obtained.

Here, the tooth template image is a 3D template image for comparative analysis with a plurality of oral images. The tooth template image is a 3D template image for comparison with a plurality of oral images. The tooth template image is a 3D template image for comparison with a plurality of oral images. Quot; means image information including information.

FIG. 5 is a flowchart illustrating a method of controlling a handpiece driving according to an exemplary embodiment of the present invention. FIG. 6 is a flowchart illustrating a method of generating three-dimensional oral image information according to an exemplary embodiment of the present invention. And FIG. 7 is a view for explaining a method of generating position information of a handpiece in the handpiece driving control method according to an embodiment of the present invention.

Hereinafter, the handpiece driving control method according to the present embodiment described above with reference to FIGS. 5 to 7 will be described in more detail.

First, the oral image pickup unit 100 picks up various parts of the oral cavity of the patient and collects a plurality of oral images (S310).

Then, the collected oral images are transmitted to the control unit 300 (S320).

Then, the control unit 300 generates three-dimensional oral image information based on the received plurality of oral images (S330).

The control unit 300 individually assigns an identification number to each tooth existing in the patient's mouth based on the generated three-dimensional oral image (S340).

Here, a figure in which the identification numbers are individually assigned to the individual teeth is as shown in Fig.

Here, the tooth present in the patient's mouth refers to a tooth such as a molar, a premolar, a canine, a lateral incisor, or an incisal tooth located on the upper right side, upper left side, lower right side, and lower right side of the patient.

If the identification numbers are individually assigned to the respective teeth, the controller 300 identifies at least three teeth among the plurality of teeth to which the identification number is assigned, and transmits the teeth to the first detecting unit 210 at step S350.

The first detection unit 210 provided on the handpiece measures the distance between the handpiece and the at least three teeth specified by the control unit 300 in step S360 and transmits the distance to the control unit 300 in step S370. .

The controller 300 generates the position information of the handpiece based on the position information of the specific tooth and the distance between the specific tooth transmitted from the first detector 210 and the specific tooth (S380).

6, the control unit 300 sets the positional information of at least three or more specific teeth as vertexes (x1, y1, z1), (x2, y2, z2) , z3), and the position information of the handpiece can be generated if arithmetic operations are performed with the distance (d1, d2, d3) between the handpiece and at least three or more specific teeth as the lengths of the sides.

The control unit 300 generates three-dimensional coordinate information by matching the generated three-dimensional oral image information with the position information of the handpiece (S390), and controls the handpiece based on the three-dimensional coordinate information (S395).

FIG. 8 is a flowchart illustrating a method of controlling a handpiece driving according to another embodiment of the present invention. FIG. 9 is a flowchart illustrating a method of generating position information of a handpiece according to another embodiment of the present invention. Fig.

Hereinafter, a handpiece driving control method according to another embodiment of the present invention will be described in detail with reference to the differences from the handpiece driving control method according to the embodiment of the present invention described above with reference to FIGS. 8 to 9 .

First, the oral image pickup section 100 picks up images of various parts of the oral cavity of the patient and collects a plurality of oral images (S610), and transmits them to the controller 300 (S620) The step S630 of generating the three-dimensional oral image information based on the plurality of oral images is the same as the one embodiment described above.

Next, the control unit 300 sets a target point to generate position information of the handpiece (S640).

At this time, the target point may be the working point of the automatic operation of the handpiece, that is, the position of the specific tooth requiring operation, as shown in Fig.

When the control unit 300 sets the target point, the first detection unit 210 determines whether the handpiece has reached the preset target point (S650).

The first detection unit 210 transmits to the control unit 300 whether the handpiece has reached a predetermined target position (S660).

Then, the control unit 300 generates position information of the handpiece based on whether the delivered handpiece reaches the target point (S670).

Specifically, when the handpiece reaches the target point, the position information of the handpiece is generated based on the position information of the target point. If it is determined that the handpiece does not reach the target point, the first detector 210 The position information of the handpiece can be generated by measuring the distance from the handpiece to the target point.

At this time, the control unit 300 can guide the handpiece to reach the target point by using the resultant value of the distance between the handpiece and the target point measured through the first detection unit 210.

The control unit 300 generates three-dimensional coordinate information by matching the generated three-dimensional oral image information with the position information of the handpiece (S680), and controls the handpiece based on the three-dimensional coordinate information (S690).

In addition, when the control unit 300 controls the handpiece to move based on the dimensional coordinate information, it is possible to control the handpiece to move through the driving unit 400 having a plurality of axes of at least three axes as shown in FIG. have.

The controller 300 may input coordinate values for adjusting the zero point or may adjust the zero point based on the coordinate values of the preset target point.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be construed as limiting the scope of the invention as defined by the appended claims. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.

100: Oral imaging unit
200:
210: first detection unit
220: second detection section
300:
400:

Claims (8)

The control unit generating three-dimensional oral image information;
The control unit generating location information of the handpiece;
Generating three-dimensional coordinate information by matching the three-dimensional oral image information with the position information of the handpiece; And
And moving the handpiece based on the three-dimensional coordinate information,
Wherein the step of generating the position information of the handpiece comprises:
Wherein the controller is further configured to: identify at least one point in at least one tooth present in the oral cavity of the patient based on the three-dimensional oral image information;
The first detection unit provided on the handpiece measures a distance to the specific point and transmits the measured distance to the control unit; And
And generating the position information of the handpiece based on the position information of the specific point and the distance between the specific point and the specific point. The method according to claim 1,
Wherein the generating of the three-dimensional oral image information comprises:
The oral image pickup unit capturing a plurality of oral images by imaging an area of the patient's mouth;
The oral image pickup unit transmitting the plurality of oral images to the control unit; And
And the control unit generating three-dimensional oral image information including the number of teeth present in the oral cavity of the patient, the positional information of each tooth, and the shape information based on the delivered plurality of oral images Wherein the handpiece driving control method comprises: The method according to claim 1,
Said point being at least three,
Wherein the step of generating the position information of the handpiece comprises:
The control unit may further include the step of individually assigning an identification number to each tooth existing in the mouth of the patient based on the three-dimensional mouth image information to specify the at least three points Wherein the handpiece driving control method comprises: The method according to claim 1,
Generating position information of the handpiece based on the position information of the specific point and the distance between the specific point and the specific point,
Wherein the control unit integrates the position information and the three-dimensional orientation information when the second detection unit provided in the handpiece collects and transmits the three-dimensional orientation information to the control unit. The control unit generating three-dimensional oral image information;
The control unit generating location information of the handpiece;
Generating three-dimensional coordinate information by matching the three-dimensional oral image information with the position information of the handpiece; And
And moving the handpiece based on the three-dimensional coordinate information,
Wherein the step of generating the position information of the handpiece comprises:
Wherein the first detection unit provided on the handpiece determines whether the handpiece has reached a predetermined target point;
Transmitting to the control unit whether the first detection unit has reached the preset target point; And
And generating the position information of the handpiece based on whether the predetermined target point has been reached or not. 6. The method of claim 5,
Wherein the step of informing the control unit of whether or not the predetermined target point has been reached comprises:
When the first detection unit determines that the predetermined target point has not been reached, measures the distance to the predetermined target point and transmits the measured distance to the control unit together with the arrival of the predetermined target point Of the handpiece. The method according to claim 1,
Wherein the step of moving the handpiece based on the three-
Wherein the control unit moves the handpiece through at least three shafts,
Wherein the control unit adjusts the zero point based on the three-dimensional coordinate information when moving the handpiece. A handpiece drive control device for performing the handpiece drive control method according to any one of claims 1 to 7,
An oral image pickup unit for collecting the oral image of the patient;
A detector for measuring a distance between the handpiece and a specific point or collecting the three-dimensional orientation information of the handpiece; And
And a controller for generating the three-dimensional oral image information and the position information of the handpiece and generating the three-dimensional coordinate information by matching the three-dimensional oral image information of the generated patient with the position information of the handpiece Handpiece drive control device.
KR1020150147877A 2015-10-23 2015-10-23 Drive control method for handpice, system using the same KR101712498B1 (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020105052A1 (en) * 2018-11-23 2020-05-28 Drobotics Ltd. Devices and methods for shaping a tooth

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Publication number Priority date Publication date Assignee Title
KR20030064772A (en) * 2000-10-26 2003-08-02 글로보덴트 이에이취에프. Method and apparatus for tooth treatment
KR100938909B1 (en) 2008-01-08 2010-01-27 오스템임플란트 주식회사 An Device for Sensing A Dendtal Implant Apparatus and the Method thereof
WO2011030906A1 (en) * 2009-09-14 2011-03-17 国立大学法人東北大学 Tooth-cutting device and method
US20150057675A1 (en) * 2013-08-21 2015-02-26 Brachium Labs, LLC System and method for automating medical procedures
KR20150102900A (en) * 2015-08-20 2015-09-09 최성숙 Auxiliary device for dental treatment, dental treatment system and dental treatment method

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Publication number Priority date Publication date Assignee Title
KR20030064772A (en) * 2000-10-26 2003-08-02 글로보덴트 이에이취에프. Method and apparatus for tooth treatment
KR100938909B1 (en) 2008-01-08 2010-01-27 오스템임플란트 주식회사 An Device for Sensing A Dendtal Implant Apparatus and the Method thereof
WO2011030906A1 (en) * 2009-09-14 2011-03-17 国立大学法人東北大学 Tooth-cutting device and method
US20150057675A1 (en) * 2013-08-21 2015-02-26 Brachium Labs, LLC System and method for automating medical procedures
KR20150102900A (en) * 2015-08-20 2015-09-09 최성숙 Auxiliary device for dental treatment, dental treatment system and dental treatment method

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020105052A1 (en) * 2018-11-23 2020-05-28 Drobotics Ltd. Devices and methods for shaping a tooth

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