KR20240029613A - Dental chair system - Google Patents

Abstract

A dental chair system related to the present invention includes a chair portion formed to adjust the patient's posture; A chair base supporting the chair portion; A robot configured to assist the procedure by moving the arm based on the location of the patient's procedure target area; a robot base formed to support the robot; and a connecting portion that connects the chair base and the robot base to integrate the chair portion and the robot.

Description

Dental chair system {DENTAL CHAIR SYSTEM}

The present invention relates to a dental chair system.

As we enter an aging society, interest in medical technologies that can maintain or treat health is increasing. In addition to orthopedic surgery, which is closely related to bone health, which is gaining prominence as the population ages, dental implant procedures are also increasing. Additionally, as automation technology is introduced in the medical and dental fields, the number of surgeons and surgical robots placed next to the operating table is increasing.

A dental implant is an artificial tooth that is installed in the gum bone, and is done when there are no teeth or the surrounding teeth are in poor condition. A typical implant surgery environment consists of a surgeon and an assisting nurse, and the quality of the implant surgery depends solely on the operator's skill level. There are cases where the implant placement location is incorrect due to lack of experience or a small mistake by the operator.

As many surgical robots have appeared as assistive technologies for implant placement, the time to establish a surgical environment has also increased. In the case of surgical robots, it is important to determine the patient's position, so correction of the surgical position is necessary, and whether the time required for this task can be reduced has also become an important issue for both the operator and the patient.

Conventional implant systems differ depending on the skill or skill of the operator, but implant placement was performed while viewing a PC screen fixed to the top of the unit chair. When performing the procedure through this process, the operator continuously moves his or her face and body to check the PC fixed to the top of the chair during the implant placement process. This situation affects implant procedures that require a high level of concentration, and the patient's satisfaction with the procedure may decrease after the procedure.

(Patent Document 1) US 9962307 B2

(Patent Document 2) KR 10-2018-0001342 A

(Patent Document 3) EP 1743594 A1

(Patent Document 4) US 2014-0199650 A

(Patent Document 5) US 2014-0178832 A

One object related to the present invention is to present a dental chair system with a robot that can assist in procedures such as implants, which is simple to install and can reduce the expansion of installation space due to the arrangement of the robot.

Another purpose related to the present invention is to present a dental chair system that integrates a robot and arranges a display that can provide various positions and postures according to implant surgery.

The problems of the present invention are not limited to those mentioned above, and other technical problems will be clearly understood by those skilled in the art from the following description.

A dental chair system related to the present invention includes a chair portion formed to adjust the patient's posture; A chair base supporting the chair portion; A robot configured to assist the procedure by moving the arm based on the location of the patient's procedure target area; a robot base formed to support the robot; and a connecting portion that connects the chair base and the robot base to integrate the chair portion and the robot.

As an example related to the present invention, the chair base may include a plurality of first ground portions for being supported on the ground, and the robot base may include a plurality of second ground portions for being supported on the ground.

As an example related to the present invention, the dental chair system may further include a first spacer disposed between the robot and the robot base.

As an example related to the present invention, the dental chair system may further include a display device installed on the robot base.

As an example related to the present invention, the display device may be supported by a balance arm formed such that one end is fixed to the robot base and the other end is coupled to the display device so that the display device can change its position and posture.

As an example related to the present invention, the balance arm may be supported by at least one second spacer.

As an example related to the present invention, the dental chair system includes a sensor unit for detecting changes in the position and posture of the patient's treatment target area; And it may further include a sensor base capable of generating an energy field that is a detection target of the sensor unit outside the patient.

As an example related to the present invention, the sensor base may include a magnetic field generator capable of generating a magnetic field.

As an example related to the present invention, the dental chair system may further include a control unit that controls the robot to move the robot arm in accordance with a change in the detection result of the sensor unit according to the patient's movement.

As an example related to the present invention, the connection part may extend from the lower part of the chair base and be connected to the robot base.

As an example related to the present invention, the connection part may further include a fastening part for fastening and coupling the chair base and the robot base.

According to the dental chair system related to the present invention, the chair part on which the patient sits and the robot that assists the procedure are integrated by a connection part connecting the chair base and the robot base, eliminating the need for a bulky robot base and operating room. Installation is also simple. In addition, by establishing the patient's approximate position and the surgical environment to be guided by the robot during initial installation through the integrated structure, there is no need to re-rescue the surgical environment each time the surgery is performed, shortening the implant procedure time and reducing physical fatigue of nurses and surgeons. It can be reduced.

According to another example related to the present invention, by applying a display device with high movement flexibility by a balance arm to an integrated chair-robot system, the physical fatigue of the operator due to implant placement can be greatly reduced.

Figure 1 shows a perspective view of a dental chair system according to an example related to the present invention.
Figure 2 is a perspective view showing the dental chair system of Figure 1 seen from another side.
Figure 3 is a perspective view showing the dental chair system of Figure 1 as seen from the bottom.
Figure 4 is a perspective view of a dental chair system according to another example related to the present invention.
Figure 5 is a diagram conceptually showing a dental chair system according to another example related to the present invention.
FIG. 6 is a plan view illustrating the hole guide of FIG. 5 as an example.
Figure 7 is a diagram schematically showing a side view of the hole guide of Figure 6.
Figure 8 is a diagram schematically showing the hall guide attached to the end effector of the robot.
Figure 9 is a flowchart for explaining a robot guide method for implant surgery in relation to the present invention.

Hereinafter, the dental chair system related to the present invention will be described in detail with reference to the attached drawings. Terms used in the specification and claims may not be limited to dictionary meanings, and may be appropriately defined and understood to explain the present invention in the best way.

1 to 3 show a dental chair system according to an example related to the present invention. As shown in these figures, the dental chair system related to the present invention includes a chair unit 110 formed to adjust the patient's sitting or lying posture and a robot 140 to assist the operator in the procedure. In these drawings, various functional units that can be added for procedures or treatments, such as handpieces, air or water supply devices, suction devices, etc., may also be provided, but are omitted for the sake of the present embodiment.

The chair part 110 is supported on the lower chair base 120, and includes a chair body 112, backrest 113, and head that allow the patient to sit or lie down at any angle or adjust the angle. It may include a rest 114 and driving devices (not shown) for driving them. A plurality of first ground portions 125 are provided on the lower surface of the chair base 120 to support the chair portion 110 on the ground.

One side of the chair unit 110 is equipped with a robot 140 that can assist the procedure by moving the arm 141 based on the location of the patient's surgical target area. A robot base 150 formed to support the robot 140 is disposed at the lower part of the robot 140. The lower part of the robot base 150 includes a plurality of second ground portions 155 to be supported on the ground. A first spacer 145 may be provided between the robot 140 and the robot base 150 to adjust the position of the robot 140 during installation. Various end effectors 143 may be installed at the end of the arm 141 depending on the stage of assisting the procedure.

The chair base 120 and the robot base 150 are connected by a connecting portion 160, and thus the chair portion 110 and the robot 140 are formed as one piece. The connection part 160 extends from the lower part of the chair base 120 and is connected to the robot base 150. According to FIGS. 1 to 3, the connection portion 160 is located at the bottom of the chair base 120. The connection part 160 may include a fastening part 165 for fastening and coupling the chair base 120 and the robot base 150. This connection portion 160 connects the chair base 120 and the robot base 150 to fix their positional relationship, making it easy to set a reference position for the robot 140 to operate, and independently connects the chair portion and the robot. It can reduce the time required for setting up before the procedure, which may occur depending on the positioning.

This system is equipped with a sensor unit to detect changes in the position and posture of the treatment target area. The sensor unit may be attached to the area to be treated or placed on a handpiece or robot arm. On one side of the chair unit 120, a sensor base 170 is installed that can generate an energy field, which is the detection target of the sensor unit, from outside the patient. The sensor base 170 may include a magnetic field generator capable of generating a magnetic field. The sensor base and sensor unit will be described in detail later by way of example with reference to FIG. 5 .

Figure 4 is a perspective view of a dental chair system 100' according to another example related to the present invention. In the dental chair system 100' of this example, the chair part 110 supported by the chair base 120 and the robot 140 supported by the robot base 150 are integrated through the connection part 160. Additionally, the dental chair system 100' also includes a display device 180 installed on the robot base 150. The display device 180 is configured to display information about the erection position and direction or the progress of the implant when the operator installs the implant.

The display device 180 is supported by the balance arm 181 so that one end is fixed to the robot base 150 and the other end is coupled to the display device 180 so that the display device 180 can change its position and posture. At this time, the balance arm 181 may include one or more link members and spring elements. This balance arm 181 may be configured to adjust its position or height by at least one second spacer 185. The display device 180 supported on the balance arm 181 can provide flexibility for movement and reduce physical fatigue of operators occurring during the procedure.

Figure 5 conceptually shows a dental chair system 100" according to another example related to the present invention. This example also assumes that the robot 140 is integrated with the chair portion 110 and the connection portion. , its detailed configuration is replaced with the description of FIGS. 1 to 4.

In the system 100" of this embodiment, when the operator wants to perform a procedure such as perforation on the treatment target area 20 using the drill tip 81 of the handpiece 80, the perforation is performed by the robot 140. A method for guiding the position and direction is presented.For this purpose, the end effector 143 of the robot 140 is equipped with the hole guide 147 in this example.

A sensor unit 190 is installed around the treatment target area 20 in the oral cavity of the patient 10. The sensor unit 190 may be in a form capable of detecting a magnetic field generated from a magnetic field generator included in the sensor base 170 outside the patient 10. The sensor unit 190 may be attached to teeth in the oral cavity using adhesive or fastening elements.

The sensor unit 190 is connected to the control unit 191 for controlling the robot 140, and the signal detected by the sensor unit 190 is transmitted to the control unit 191 and connected to the sensor unit 190 and the sensor unit 190. The control unit 191 can track the movement or movement (M1) of the treatment target area 20 of the patient 10 to which ) is attached. The control unit 191 calculates the position and change of the sensor unit 190 using signals from the sensor unit 190, and controls the movement (M2) of the hall guide 147 connected to the robot 140 accordingly. Apply a signal.

The hole guide 147 is mounted on the end effector 143 of the robot 140 and is formed to guide the position and direction of the surgical tools 80 and 81 with respect to the treatment target area 20. The end of the hole guide 147 guides the position and entry direction of surgical tools such as the drill tip 81, and tracks the movement (M1) of the patient 10 according to the operation of the robot 140 to ensure that the patient during the procedure ( Even if there is a change in the posture or movement of 10), the movement (M2) of the corresponding hole guide (147) is induced to provide accurate surgical guidance. A display device 180 may be provided on one side of the robot 140 to display the surgical plan or the status during the surgical procedure.

Figure 6 is a plan view illustrating the hole guide of Figure 5, Figure 7 is a schematic view of the side view of the hole guide of Figure 6, and Figure 8 is a schematic view of the hall guide attached to the end effector of the robot. This is a drawing shown as .

As shown in these figures, the hole guide 147 includes a mounting portion 149 for mounting on the end effector 143 of the robot 140, and a guide portion 148 formed at the end of the mounting portion 149 and having a hole. It is in the form of As shown in Figures 6 (a) to (c), the hole guides 147, 147', and 147" may be formed in various types to be selectable depending on the size of the fixture to be installed. For example, in Figure 6 (a) ), the hole 148a' formed in the guide portion 148' of the hole guide 147' in FIG. 6(b) is larger than the diameter of the hole 148a formed in the guide portion 148 of the hole guide 147. And the hole 148a" formed in the guide portion 148" of the hole guide 147" in FIG. 6(c) is sequentially made smaller. These hole guides (147, 147', 147") can be formed in the same general form that can be applied to different patients. In addition, when the hole guides (147, 147', 147") are made and used for each patient, In comparison, it can provide the advantage of reducing the steps of implant surgery and reducing economic costs.

The guide portion 148 may be formed in the shape of a sleeve to guide the entry direction of the operator's surgical tools. The guide unit 148 may be equipped with a lamp or display element that can provide visual indication for guidance during a separate procedure or to warn of incorrect positioning. To this end, the handpiece 80, etc. can be configured to detect the magnetic field from the sensor base 170 so that the exact position of the handpiece 80 can be tracked.

Among the arm 141 (see FIG. 1), end effector 143, hole guide 147, or sensor unit 190 of the handpiece 80 or robot 140, the part attached to the patient 10 is the sensor unit. (190) It can be formed from a non-magnetic material (e.g. titanium, resin, etc.) to minimize the influence of magnetic fields that may be received.

This system can be applied to drilling or installation of the fixture 50 or procedures for combining the abutment 60 and crown 70.

FIG. 9 is a flowchart for explaining a robot guidance method for implant surgery in relation to the system of FIG. 5.

First, a CT image of the oral cavity is taken, and then the operator identifies the oral structure based on the CT image and establishes an implant placement plan, which the control unit receives (S10). The placement plan may be information related to the location or direction for installing the fixture 50, and this may be input through the user interface and stored through the control unit 191.

Next, when the operator selects the hole guide 147 according to the planned implant size and fastens it to the end effector 143, the control unit 191 confirms and receives information on the fastened hole guide 147 (S20) ).

To guide the dental implant procedure, a sensor unit 190 to track the patient's motion is installed in the patient's mouth and a reference position is set. As a specific method, the position and calculation work of the hole guide 147 according to the patient's motion are performed in a guide program. The end effector 143 of the robot 140 is arranged so that the implant placement plan position and direction and the center of the hole guide 147 are in the same position and direction in reality. Even if the motion of the patient 10 continues, it is checked whether the guide function is maintained, and if there are no abnormalities, the implant placement procedure is started. At this time, the center of the guide part 148 of the hole guide 147 is the part where the fixture 50 will be located, and the operator judges the hole guide 147 in real time and performs the procedure. In this process, the results detected by the sensor unit 190 are received (S30), and the robot 140 is controlled to move the hall guide 147 in real time according to changes in position and direction according to the patient's motion. (S40, S50). When implant placement is completed, the hole guide 147 is moved to its original position (S60), and the implant placement procedure is completed.

Through this method, the operator can adjust the exact position and direction of the surgical tool in real time regardless of the patient's movement or motion through the robot guide.

The dental chair system described above is not limited to the configuration and method of the described embodiments. The above embodiments may be configured by selectively combining all or part of each embodiment so that various modifications can be made into substituted equivalents.

100: Dental chair system 110: Chair unit
112: chair body 113: backrest
114: headrest 120: chair base
125: first grounding portion 140: robot
141: arm 143: end effector
145: first spacer 150: robot base
155: second grounding portion 160: connection portion
165: fastening part 170: sensor base
180: display device 181: balance arm
185: second spacer

Claims (11)

A chair portion formed to adjust the patient's posture;
A chair base supporting the chair portion;
A robot configured to assist the procedure by moving the arm based on the location of the patient's procedure target area;
a robot base formed to support the robot; and
A dental chair system comprising a connection part that connects the chair base and the robot base to integrate the chair part and the robot.
According to paragraph 1,
The chair base includes a plurality of first ground portions for being supported on the ground,
A dental chair system, wherein the robot base includes a plurality of second ground portions for being supported on the ground.
According to paragraph 1,
A dental chair system further comprising a first spacer disposed between the robot and the robot base.
According to paragraph 1,
A dental chair system further comprising a display device installed on the robot base.
According to paragraph 4,
The display device is supported by a balance arm that has one end fixed to the robot base and the other end coupled to the display device so that the display device can change its position and posture.
According to clause 5,
The dental chair system of claim 1, wherein the balance arm is supported by at least one second spacer.
According to paragraph 1,
A sensor unit for detecting changes in the position and posture of the patient's treatment area; and
A dental chair system further comprising a sensor base capable of generating an energy field that is a detection target of the sensor unit outside the patient.
According to paragraph 1,
A dental chair system in which the sensor base includes a magnetic field generator capable of generating a magnetic field.
According to paragraph 1,
A dental chair system further comprising a control unit that controls the robot to move the robot arm according to changes in the detection results of the sensor unit according to the patient's movement.
According to paragraph 1,
The connection portion extends from the bottom of the chair base and is connected to the robot base.
According to paragraph 1,
The dental chair system wherein the connection part further includes a fastening part for fastening and combining the chair base and the robot base.