KR102019984B1 - Handpiece holder for automated robot of dental equipmet - Google Patents

Abstract

The present invention relates to an automated dental instrument robot system, and more particularly, to a handpiece holder connected to a robot arm to adjust a position of a dental instrument handpiece, which comprises: a first handle; a bracket coupled to the first handle, and mounted on an end of a robot arm; a mounting holder including upper and lower holders, connected to the bracket, and coupled to a handpiece; and a second handle mounted on the upper and lower holders of the mounting holder, and vertically arranged. According to the handpiece holder for an automated dental instrument robot, the handpiece can be held by being mounted on the robot arm for an automated dental instrument, and position adjustment of the handpiece is configured to be easy during the position adjustment of the handpiece through free movement of the robot arm to assist an implant treatment. Also, the handpiece is stably supported during a treatment to prevent the shaking due to rolling (vertical movement) of the handpiece, thereby minimizing errors of position, direction, angle, depth, etc.

Description

Handpiece holder for automated robot of dental equipmet

The present invention can be mounted on the robot arm for dental automation, handpiece can be mounted, and when the position of the handpiece through the free movement of the robot arm, it is configured to facilitate the position adjustment of the handpiece to assist the implant procedure In addition, by stably supporting the handpiece during the procedure, it is possible to prevent shaking due to handpiece rolling (up and down movement), thereby minimizing errors such as position, direction, angle, and depth. It relates to a piece holder.

In general, the dental implant method is to insert a drill according to the implant system to a hand-piece connected to the dental implant motor to determine the position and direction to be performed in the oral cavity of the patient in need of treatment. The procedure is performed by the operator's hand to the desired depth.

At this time, since the above procedure is performed in a narrow oral cavity, it is difficult to secure a visual field of the position to be treated, and the diameter of the hole is widened by changing the size from a small diameter drill to a large diameter drill for one implant procedure. . In this case, the cutting of the bone may occur due to shaking due to handpiece rolling (up and down movement) in the process of changing the diameter of the drill and repeating the procedure, such as position, direction, angle, and depth. The occurrence of such an error not only makes the procedure difficult, but also has a problem that does not give anxiety or trust to the patient.

Republic of Korea Registered Utility No. 20-0408638

The present invention has been made to solve the above problems,

The handpiece can be mounted on the robot arm for automating the device, and when the handpiece is positioned by free movement of the robot arm, the handpiece can be easily positioned to assist the implant procedure. By stably supporting the handpiece during the procedure, the purpose of preventing vibrations due to handpiece rolling (up and down movement) is to minimize errors such as position, direction, angle and depth.

The present invention connects the mounting holder to which the handpiece is mounted and the bracket mounted to the robot arm by a hinge coupling part, thereby making it easier to adjust the position by adjusting the direction and angle of the handpiece, and by expanding the position adjusting range. Another purpose is to plan for a precise procedure.

In the present invention, the handpiece holder for the automated instrument robot is connected to the robot arm, the handpiece holder for position adjustment of the dental handpiece, comprising: a first handle; A bracket coupled to the first handle and mounted to an end of the robot arm; A mounting holder composed of an upper holder and a lower holder and connected to the bracket and to which the handpiece is coupled; And a second handle mounted to upper and lower holders of the mounting holder and disposed up and down.

The mounting holder according to the present invention is composed of an upper holder and a lower holder, the upper and lower holders are provided with a first holding portion for mounting the second handle up and down, the lower holder is coupled to the handpiece through Characterized in that the second holding portion is provided.

 A hinge coupling part for connecting the bracket and the mounting holder according to the present invention is further provided, so that the first handle and the hinge coupling part enable position adjustment by adjusting the direction and angle of the handpiece.

It is provided on the first handle according to the present invention, characterized in that it further comprises an operation button for controlling the play and hold state of the handpiece by a controller provided in the robot system.

The handpiece holder for an appliance automation robot according to the present invention can be mounted on a robot arm for appliance automation, and the handpiece can be mounted, and the position of the handpiece when adjusting the position of the handpiece through free movement of the robot arm. It is configured to be easy to adjust, not only to assist the implant procedure, but also to stably support the handpiece during the procedure to prevent shaking due to the rolling of the handpiece (up and down movement), thereby reducing errors such as position, direction, angle and depth. It can be minimized.

The present invention connects the mounting holder to which the handpiece is mounted and the bracket mounted to the robot arm by a hinge coupling part, thereby making it easier to adjust the position by adjusting the direction and angle of the handpiece, and by expanding the position adjusting range. Can prepare for the precise procedure.

1 is a perspective view showing a dental instrument automation robot system is mounted handpiece holder according to the present invention,
2 is a side view showing a handpiece holder according to the present invention;
3 is a front view showing a handpiece holder according to the present invention,
4 is a plan view showing a handpiece holder according to the present invention,
Figure 5 is a perspective view showing another embodiment of the handpiece holder according to the present invention.
6 is a flow chart showing a control method of the appliance automation robot system according to the present invention;
7 is a detailed flow chart showing a control method of the dental instrument automation robot system according to the present invention,
8 is a conceptual diagram showing a control device of the dental instrument automation robot system according to the present invention.

In order to explain the present invention, the operational advantages of the present invention, and the objects achieved by the practice of the present invention, the following describes exemplary embodiments of the present invention and looks at it with reference.

First, the terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the invention, and the singular forms may include the plural forms unless the context clearly indicates otherwise. Also in this application, terms such as "comprise" or "have" are intended to indicate that there is a feature, number, step, action, component, part, or combination thereof described on the specification, one or more other It is to be understood that the present invention does not exclude the possibility of the presence or the addition of features, numbers, steps, operations, components, parts, or a combination thereof.

In describing the present invention, when it is determined that the detailed description of the related well-known configuration or function may obscure the gist of the present invention, the detailed description thereof will be omitted.

As shown in Figure 1, the handpiece (H) cradle 100 according to the present invention is mounted to the robot arm (RA) in the appliance automation robot system is configured to be mounted to the handpiece (H).

First, the dental instrument automation robot system is composed of a method and a control device for automating the implant procedure using the robot arm (RA), a detailed description thereof will be described later.

However, the dental instrument automation robot system adjusts the position of the handpiece (H) by freely moving the robot arm (RA) equipped with the dental implant surgical handpiece (H), and adjusts the position adjustment data and the handpiece (H). Set the cutting depth to be placed by the drill and store the depth data, and use the stored data to automatically control the robot arm (RA) and the handpiece (H) to the position, direction, and depth to be placed. In addition to enabling this, it is configured to increase the precision of the procedure.

In this case, the handpiece (H) holder 100 according to the present invention may be mounted on the robot arm (RA) so that the handpiece (H) can be mounted, and also the handpiece (H) through free movement of the robot arm (RA). ) When adjusting the position of the handpiece (H), the position of the handpiece (H) can be easily adjusted to assist the implant procedure, and also stably support the handpiece (H) during the procedure. ), So that errors such as position, direction, angle and depth can be minimized.

Handpiece (H) cradle 100 for this is configured as follows.

2 to 4, the handpiece (H) holder 100 according to the present invention is coupled to the first handle 110 and the first handle 110 to be mounted on the end of the robot arm RA. The bracket 120, the upper holder 131 and the lower holder 133 is composed of the upper part of the mounting holder 130 and the mounting holder 130 is connected to the bracket 120, the handpiece (H) is coupled And a second handle 160 mounted to the lower holder 133 and disposed up and down.

First, the first handle 110 has a circular shape, and when the robot arm RA moves freely, the operator can move the robot arm RA by holding the first handle 110.

Next, the bracket 120 is provided at the front of the first handle 110, the rear end is mounted to the first handle 110, the mounting holder 130 is coupled to the front end. The bracket 120 is configured to have a diameter smaller than the outer diameter of the first handle 110, a plurality of bolt holes are formed in the edge portion. This bolt hole is fixed to the robot arm RA using the fastening bolt.

In addition, the mounting holder 130 is composed of an upper holder 131 and a lower holder 133 so that the handpiece (H) can be mounted, the upper holder 131 and the lower holder 133 is formed in a substantially block shape. do. In this case, the upper and lower holders 133 are provided with a first holding part 135 to which the second handle 160 is mounted up and down, and the handpiece H penetrates and is coupled to the lower holder 133. 2 holding portions 137 are provided.

That is, the upper holder 131 and the lower holder 133 is provided with a first holding part 135 penetrating up and down, the second handle 160 to be described later is coupled to the second handle 160, in this case the first Threads may be formed on the inner side of the holding part 135 and the end of the second handle 160 to be coupled to each other. In addition, the second handle 160 may be easily separated from the mounting holder 130, thereby facilitating management of maintenance and the like.

In addition, as described above, the second handle 160 includes a second upper handle 161 mounted to the first holding part 135 of the upper holder 131, and a first holding part 135 of the lower holder 133. It consists of a second lower handle 163 mounted on. In this case, the second upper handle 161 protrudes upward, and the second lower handle 163 protrudes downward.

When the operator grips the first handle 110 with one hand and applies a force for free movement of the robot arm RA, the second handle 160 uses only the gripped first handle 110 to move the robot arm RA. Since it may not be easy to control the movement of the handpiece (H) more easily and easily in this case to freely move the robot arm (RA) by holding the second handle 160 with another hand freely. Position can be adjusted.

In particular, in the case of the second handle 160 is formed in the form of a rod is effective to apply a more effective force when twisting the robot arm (RA) at a certain angle for adjusting the angle of the handpiece (H).

On the other hand, in the present invention, in order to more smoothly adjust the position of the handpiece (H), it is preferable that the hinge coupling portion 140 for connecting the bracket 120 and the mounting holder 130 is provided.

As shown in FIG. 5, the hinge coupler 140 coupled to the rear surface of the upper holder 131 is provided with protrusions 141 spaced apart from each other and protruded to the rear, and the protrusions 141 are formed with each other. A hole is formed at a corresponding position, and another hole is formed at the front end of the bracket 120 to correspond to the protrusion 141. In this case, after inserting the front end of the bracket 120 between the protrusions 141, by inserting the hinge shaft 143 in each hole is configured to allow the mounting holder 130 to pivot.

The hinge coupler 140 configured as described above not only makes it easier to adjust the position by adjusting the direction and angle of the handpiece H, but also expands the range of positioning to prepare a process for more precise procedures. You can do it.

An operation button 150 provided in the first handle 110 according to the present invention and for controlling the play and hold state of the handpiece H may be further included by the controller 10 provided in the robot system.

The operation button 150 is operated by pressing the play (play push) button for more smooth operation when the robot arm RA moves freely in the direction and forward and backward directions, and the pull pull By assisting the operation for adjusting the position of the handpiece (H) can help smooth operation.

Hereinafter, a control method and a control apparatus of the dental instrument robotic robot equipped with the handpiece holder 100 according to the present invention will be described with reference to FIGS. 1, 6 to 8.

As shown in Figure 1, Figures 6 to 8, in the method of controlling the automated robot robot according to the invention step (a) of adjusting the position of the handpiece (H) through the free movement of the robot arm (RA) (S100) ), Step (b) of storing the position adjustment data of the handpiece (H), (c) step (S300) of setting the cutting depth by the drill (D) of the handpiece (H), depth data And (d) step (S500) of driving the robot arm (RA) and the handpiece (H) according to the storing step (S400) and the stored positioning data and the cutting depth data.

First, as shown in FIGS. 1 and 6 to 8 (a) step (S100) according to the present invention is a handpiece (H) mounted through the cradle 100 to the robot arm (RA) and the robot arm (RA) (H) By the operation module 20 is configured to adjust the position of the handpiece (H). In this case, through the free movement of the robot arm (RA) and the handpiece (H), the operator adjusts the position, direction and angle for cutting the bone in the oral cavity of the patient in the drill mounted on the handpiece (H) .

To this end, a control box CB is provided as shown in FIG. 1, and the controller 10 is built in the control box CB. In addition, the front of the control box (CB) is provided with a user interface (UI), that is, a display or a touch panel to provide various interfaces for controlling data input and execution commands.

In addition, the free movement of the robot arm (RA) and the handpiece (H) can ensure user convenience by setting and implementing the direction of movement through the joystick. In addition, when the operator manually moves freely, the positioning accuracy may be degraded due to shaking or shaking, but in this case, the positioning accuracy may be improved by removing the instability through the joystick.

In this case, as shown in FIG. 8, the controller 10 embedded in the control box CB controls the dental robot arm RA and the handpiece H according to the present invention, and for this purpose, the data input unit 11. And a memory unit 13 and a drive control unit 15. In addition, the execution mode selection unit 17 is provided to perform the procedure by distinguishing the drill mode 17a and the implantation mode 17b.

However, if the position adjustment is completed through the free movement in step (a) (S100), but there is an error in the position adjustment data, the set position adjustment data is not selected, and the process returns to step (a) again to the operation module 20. Positioning is performed again by free movement. On the contrary, when there is no error in the positioning data, the positioning data set through the next step (b) (S200) is stored in the memory unit 13. To this end, the controller 10 is provided with a data input selection unit 11a to determine the error of the position adjustment data.

As shown in Figure 1, 6 to 8 (b) step (S200) according to the present invention is the operation module 20, that is, the robot arm (RA) and the handpiece (a) through step (a) (S100) When the position adjustment of the handpiece H is completed and set through the free movement of H), the set position adjustment data is stored in the memory unit 13 of the controller 10.

In this case, the memory unit 13 can designate a memory address for storing the position adjustment data. This designation of the memory address can increase the efficiency in managing the patient's data. However, the memory address designation by the memory unit 13 may be designated at the time of storing the data after setting not only the position data but also the execution mode selection (drill mode 17a or implantation mode 17b) and cutting depth data. In the designated memory address, final data such as a positioning direction, an angle, an execution mode, and a cutting depth may be stored.

1, 6 to 8 (c) step (S300) according to the present invention is to cut the bone of the patient for implant placement after the positioning data is stored in (b) step (S200) The depth of cut is set. In this case, the data input unit 11 sets and inputs the cutting depth through cutting the bone for implantation. The depth of cut may vary from patient to patient and from procedure to implant.

As shown in Figure 1, 6 to 8 (d) step (S400) according to the present invention is the depth of bone is set by the step (c) (S300) is input through the data input unit 11 The cutting depth data is stored through the memory unit 13.

The cutting depth data set as described above is stored in the memory unit 13. In this case, the position adjustment data and the cutting depth data may be stored by designating a memory address. The information stored with the designated memory address is required to change or modify some data when managing the same patient. It is possible to modify or change only some data that need to be modified or changed among the data stored in the designated memory address without performing the storing process. Therefore, it is easy to manage and modify data.

In addition, the same patient can utilize the data of the patient stored in the allocated memory address, so that the previous procedure information can be accurately identified, and the operator also does not perform a separate action for repositioning to obtain the patient's procedure information. It may not be possible to enable an efficient procedure.

After storing the position adjustment data and the cutting depth data in the memory unit 13 by performing steps (a) to (d) (S400) in this manner, the execution mode selection unit 17 performs the drill mode 17a. ) Or (d ') step S410 to select the implantation mode 17b.

In this case, the drill mode 17a is operated slowly or at a high speed in a specific direction and depth of cut through a fixed execution at a specific position to minimize the shaking of the handpiece H entering the mouth. ) Will be activated.

The insertion mode 17b is operated slowly in a specific direction and depth of cut through a fixed execution at a specific position to operate the handpiece H in a direction that can minimize the shaking of the handpiece H entering the oral cavity.

In this case, the mode data in the drill mode 17a and the implantation mode 17b store the confirmed data in the memory unit 13 in consideration of the characteristics of the fitting mechanism for each mode.

Accordingly, in step (d ′) (S410), the drill mode 17a or the implantation mode 17b is selected according to a specific speed for the procedure by the execution mode selector 17 of the controller, and the operation module is selected according to the selected mode. The operation is performed by driving 20.

1, 6 to 8 (e) step (S500) according to the present invention is the position adjustment data, cutting depth data, mode stored in the memory unit 13 by the composition controller of the controller 10 The operation is performed by driving the operation module 20 according to the data.

In this case, the diameter of the hole is widened by changing the size from a small diameter drill to a large diameter drill for a single implant procedure. Therefore, the bone is first cut using a small diameter drill and then the drill diameter is increased to a larger size and the bone is cut several times.

That is, in the control method and control apparatus of the jig automation robot according to the present invention as described above, when the same procedure is performed several times by changing the size of the drill during the implant procedure, the data initially set to the memory unit 13 The same procedure can be implemented according to the data stored in the memory unit 13 in the subsequent procedure.

Therefore, not only can the procedure's identity and accuracy be improved, but also stable and reliable implant treatment can be achieved by eliminating the error caused by handpiece (H) rolling or shaking, which can occur when the operator's manual operation. Can be.

The control device for implementing the method for controlling the automated robot robot as described above is configured as shown in FIG.

Hereinafter, in describing the device automation robot control apparatus, duplicate descriptions will be omitted for clarity of the invention with respect to the configuration described in the above-described control method. However, the same component indicates that the same function and function.

As shown in Figure 1 and 5, the dental appliance automation robot control apparatus according to the present invention comprises a robot arm (RA), a handpiece (H) mounted on the robot arm (RA), robot arm (RA) A controller (10) comprising an operation module (20) for adjusting the position of the handpiece (H) through free movement, a memory unit (13), a data input unit (11), and a drive control unit (15); It is made to include.

First, the robot arm RA of the operation module 20 is a product used previously, and the operation or function thereof will be omitted. In addition, the handpiece H of the operation module 20 is coupled to the cradle 100 mounted to the robot arm RA. Handpiece (H) is configured to be detachable to a variety of drills can be used in exchange for the type of procedure or patient.

Next, the data input unit 11 of the controller 10 sets and inputs the cutting depth by the drill mounted on the handpiece H, and the memory unit 13 inputs the handpiece H by the operation module 20. Position adjustment data) and cutting depth data by the data input unit 11 are stored. The driving control unit 15 drives the operation module 20 according to the position adjustment data and the drilling depth data stored by the memory unit 13.

In this case, the memory unit 13 may be an internal memory, and may include a hard disk drive, a flash memory, an electrically erasable programmable read-only memory (EEPROM), a static RAM (SRAM), a ferro-electric RAM (FRAM), and a PRAM (Phase-). in combination with nonvolatile memory such as change RAM (MRAM), magnetic RAM (MRAM), or the like, or volatile memory such as dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), and double date rate-SDRAM (DDR-SDRAM). Can be configured.

In addition, the controller 10 is provided with an execution mode selector 17 for selecting the drill mode 17a or the implantation mode 17b of the handpiece H in accordance with a specific speed, and selects a mode according to the procedure type. If necessary, the selected mode data can be stored in the memory unit 13, and a memory address can be designated.

As described above, the present invention has been described with reference to one embodiment shown in the drawings, but this is merely exemplary, and those skilled in the art may various modifications and equivalent other embodiments from this. Will understand.

Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

RA: Robot Arm H: Handpiece
CB: ControBox UI: User Interface
10: controller
11: data input section 11a: data input selection section
13: memory section
15: drive control unit 17: run mode selection unit
17a: Drill Mode 17b: Placement Mode
20: motion module
100: holder
110: first handle
120: bracket
130: mounting holder
131: upper holder 133: lower holder
135; First holding part 137: Second holding part
140: hinge coupling portion
141: protrusion 143: hinge axis
150: operation button
160: second handle
161: second upper handle 163: second lower handle

Claims (4)

In the handpiece holder 100 is connected to the robot arm (RA) in the dental automation robot system for position adjustment of the dental handpiece (H),
First handle 110;
A bracket 120 coupled to the first handle 110 and mounted to an end of the robot arm RA;
A mounting holder 130 having an upper holder 131 and a lower holder 133 connected to the bracket 120 and to which the handpiece H is coupled; And
A second handle 160 mounted to upper and lower holders 131 and 133 of the mounting holder and disposed up and down;
A handpiece holder for an automated robot, including a device.
The method of claim 1,
Upper and lower holders 131 and 133 of the mounting holder are provided with a first holding part 135 on which the second handle 160 is mounted up and down.
The lower holder 133 is a handpiece holder for dental instruments automated robot, characterized in that the hand holding (H) is provided with a second holding part 137 is coupled through.
The method of claim 1,
A hinge coupling portion 140 is further provided to connect the bracket 120 and the mounting holder 130 to the first handle 110 and the hinge coupling portion 140 in the direction of the handpiece H. Handpiece cradle for an automated robot for instrumentation, characterized in that the position adjustment is possible by adjusting the angle.
The method of claim 1,
It is provided on the first handle 110, characterized in that it further comprises an operation button 150 for controlling the play and hold state of the handpiece (H) by a controller provided in the automated device automation device Handpiece holder for dental robots.

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