TW201519876A - A method of controlling an endodontic instrument for root canal care - Google Patents

Abstract

The invention provides a method of automatically controlling a root canal cutter tool (4) of a root canal instrument (2), the root canal cutter tool (4) being drivable in rotation by a motor (6) and being associated with a control unit (8) for monitoring the cutting torque (CP) or the torque delivered by the motor, the method comprising: rotating the root canal cutter tool (4) in a predetermined cutting first direction (S1) until the torque (CP) reaches a predetermined limit torque value, which limit value is a function of at least one item selected from the root canal cutter tool (4) and the motor (6); and when the limit torque value is reached:, rotating the root canal cutter tool (4) in a second direction (S2) opposite to the cutting first direction (S1) through a predetermined first angle of rotation; and then, restarting the rotation of the root canal cutter tool (4) in the cutting first direction (S1).

Description

Method for controlling root canal treatment instrument for root canal care

The present invention relates to a method of controlling a root canal treatment instrument for root canal care, and more particularly to a root canal for automatically controlling, for example, performing an instrument for performing an expansion and/or a reaming treatment The method of cutting machine tools.

In a known manner, the root canal instrument includes a motor adapted to drive a root canal cutter tool rotation to perform root canal treatment.

Since rotary instruments, typically made of nickel-titanium (Ni-Ti), are present in the root canal treatment market, tools for controlling root canal cutters have been developed based on monitoring the operating parameters of electric motors that drive such tools. Technology and software. In general, control as a whole may have an effect on the movement and performance of the root canal cutter tool and the instrument, or may affect the rotational speed and angle of the movement and performance, the applied torque, and other mechanical and motion parameters. In particular, control has continued from controlling only the rotation to the particular component that makes it possible to obtain a pre-set torque level.

Continuous and multidisciplinary collaboration between manufacturers of root canal instruments and manufacturers of devices suitable for controlling such root canal instruments has enabled the development of shapes and models, various pitches, various resilience, right-to-left cuts or Cutting from left to right... the root canal instrument.

However, it is often difficult to optimize the performance of a given root canal instrument (specifically, a variety of given root canal cutter tools that can be used). In addition, it is not always easy for the physician Effectively dispose of this root canal instrument. To date, the sequence of adjustments to the movement of the tool to the root canal cutter has been performed by an expert and the root canal treatment is performed by the medical operator with experience. Therefore, the effectiveness, speed, and clinical quality of treatment are inherently related to the capabilities of the operator.

In particular, where the root canal cutter tool is stuck during root canal treatment, it is up to the operator to control the root canal instrument and to detach from the scene as much as possible and continue treatment. Improper action by the operator on the root canal instrument can, in particular, result in prolonged time required to perform the desired treatment or actually result in a decrease in the quality of the treatment.

Suitable components for controlling the operation of the root canal instrument to control the execution of the root canal treatment, in particular, independently of the type of root canal cutter tool used and the operator performing the treatment, have not yet been obtained.

The above problems are particularly prominent in the case where the shape of the root canal is complicated (for example, in the case where it has complicated branches and/or curves).

To this end, the present invention provides a method of automatically controlling a root canal instrument and, more specifically, a root canal cutter tool of such an instrument, in order to specifically remedy the deficiencies referred to above with reference to the prior art.

In general, the present invention relates to root canal instruments having a rotary tool (specifically, a tool that can be driven by a motor and controlled by an associated control unit (or device)). The motor (typically an electric motor) and/or the control device can be provided as part of forming a root canal instrument or as a separate portion that can be releasably associated with the instrument. The control device can even be incorporated into the motor or adapted to be incorporated in the motor.

More specifically, the present invention provides a method of automatically controlling a root canal cutter tool of a root canal instrument that can be rotated by a motor and with torque for monitoring cutting torque and/or delivered by the motor The control unit is associated with the method comprising: rotating the root canal cutter tool in a predetermined first cutting direction until the cutting twist The moment or the torque delivered by the motor reaches a predetermined limit torque value selected from a function of the root canal cutter tool and at least one item of the motor; and when the limit torque value is reached: Rotating the root canal cutter tool through a predetermined first angle of rotation in a second direction opposite the first cutting direction; and then. The rotation of the root canal cutter tool in the first cutting direction is resumed.

By way of example, the predetermined limit torque value is a function of at least one characteristic (shape, size, etc.) of the root pipe cutter tool and/or at least one characteristic of the motor.

The control method of the present invention thus proposes that the root canal instrument or, more specifically, the root canal cutter tool can be used independently of the type of root canal cutter tool used and the operator controlling the root canal instrument The mobile control sequence that best performs this root canal treatment. In practice, automatic control of the root canal cutter tool can be adapted to most root canal treatment sequences.

The method of the present invention is advantageous in that the root canal cutter tool performs a return angular movement (i.e., in a direction opposite to its starting direction) when the predetermined limit value is reached. This return movement advantageously allows the root canal cutter tool to be released or unlocked when the control unit detects excessive torque (i.e., when the root canal cutter tool encounters excessive mechanical resistance during root canal treatment) .

Advantageously, the level of limiting mechanical resistance that triggers this return movement is possible depending on the root canal cutter tool used and/or depending on the motor in question. Therefore, it is possible to optimize the effectiveness of the control method of the present invention, depending in particular on the characteristics of the root canal cutter tool selected by the operator.

In a particular embodiment, the first angle of rotation is in the range of 0[deg.] to 1440[deg.].

In a particular embodiment, the second direction is the direction of the cut (ie, the rotation is considered to be "active") or the direction of passive rotation. As explained below, the term "active rotation" is used herein to mean that the root canal cutter tool has a cut in the direction in question. Cutting action. In other words, the direction in question is the "cutting direction" whereby the operator is able to perform a given root canal treatment.

Conversely, where the root canal cutter tool is not being cut while rotating in the direction, the rotation is considered to be "passive" in a given direction.

In a particular embodiment, the predetermined limit torque value is equal to about 1.0 N.cm (Newtons).

In a particular embodiment, the rotational speed of the root canal cutter tool is equal to about 300 revolutions per minute (rpm) during at least one of the steps of rotating the root canal cutter tool.

In a first variant embodiment, during the restarting of the rotation, the root canal cutter tool is driven to continue to rotate in the first cutting direction until a motor stop signal is detected.

In a second variant embodiment, during the restarting of the rotation, the root tube cutter tool is driven to alternately pass the second predetermined rotation angle and the third predetermined rotation angle in the first cutting direction and in the second direction, respectively. Rotate until the motor stop signal is detected. In other words, when the rotation is restarted, the alternate rotation causes the motor to start driving the root canal cutter tool through the second rotation angle in the first cutting direction, and then in the second direction through the third rotation angle, And then in the first cutting direction through the second rotation angle or the like.

Performing the alternating rotation as defined above effectively unlocks the root canal cutter tool in certain circumstances when the root canal cutter tool encounters high mechanical resistance during root canal treatment.

In the second variation above, the second rotation angle and the third rotation angle may each be in the range of, for example, 0° to 360°.

More particularly, for example, the second angle of rotation is about 150°.

Also in this second variation, for example, the third angle of rotation is about 30 degrees.

In a particular embodiment, the method of the present invention includes a preliminary step of setting the first direction and the second direction.

In a particular embodiment, the various steps of the control method of the present invention are determined by computer program instructions.

Accordingly, the present invention also provides a computer program on a data medium (recording medium) adapted to be executed in a control unit, such as a processor, for example, the program comprising adapted to perform the definition as defined above Instructions for controlling the steps of the method.

The program can use any programming language and is in the form of a source code, an object code, or an intermediate code between the source code and the object code, such as in a partially compiled form, or in any other desired form.

The present invention also provides a data medium (or recording medium) readable by a computer and containing instructions for a computer program as described above.

The data medium can be any entity or device capable of storing the program. For example, the medium can include a storage component such as a read only memory (ROM), such as a compact disc (CD) ROM, or a microelectronic circuit ROM; or an actual magnetic recording component, such as a floppy disk or a hard disk.

Moreover, the data medium can be a communicable medium, such as an electrical or optical signal suitable for transmission via a cable or fiber optic cable, by radio or by other means. The program of the present invention can be downloaded (specifically) from an internet type network.

Alternatively, the data medium can be an integrated circuit in which the program is incorporated, the circuit being adapted to perform or to perform the method in question.

Correspondingly, the present invention provides a root canal instrument comprising: a root canal cutter tool that can be rotated by a motor; A control unit for monitoring the cutting torque and/or the torque delivered by the motor; the control unit being programmed with an automatic control method as defined above.

The method provides (particularly) a tube instrument in which the control unit is configured to control the motor to perform the steps of: rotating the root tube cutter tool in a predetermined first cutting direction until cutting torque Or the torque delivered by the motor reaches a predetermined limit torque value selected from a function of the root canal cutter tool and at least one item of the motor; and when the limit torque value is reached: Rotating the root canal cutter tool through a predetermined first angle of rotation in a second direction opposite the first cutting direction; and then. The rotation of the root canal cutter tool in the first cutting direction is resumed.

Specific embodiments and variations of the control methods for the present invention as defined above apply in the same manner to the root canal instrument of the present invention.

2‧‧‧Automatically controlled root canal instrument / root canal instrument

4‧‧‧ Root canal cutter tool

6‧‧‧Motor

8‧‧‧Control unit

10‧‧‧Detector components

12‧‧‧Memory/processor readable data media

13‧‧‧Coupling components

14‧‧‧ interface

AX‧‧‧ longitudinal axis/shaft

CP‧‧‧Cutting Torque/Torque

PD‧‧‧ pedal

PG‧‧‧ program

S1‧‧‧Predetermined first cutting direction / first cutting direction / direction

S2‧‧‧Second direction/direction/opposite direction/direction

α1‧‧‧Predetermined angle/return angle movement/return movement/predetermined first rotation angle/first rotation angle

22‧‧‧predetermined angle/second predetermined rotation angle/second rotation angle

Α3‧‧‧third predetermined rotation angle/third rotation angle/predetermined angle

The other features and advantages of the present invention are set forth in the description which follows the accompanying drawings in which FIG. In the pictures: Figure 1 is a diagram showing the architecture of a root canal instrument in a particular embodiment of the invention; 2 is a flow chart diagrammatically showing the main steps of a control method in a particular embodiment of the invention; 3A through 3D are diagrams showing different steps of performing the control method shown in Fig. 2.

The present invention seeks to automatically control the root canal cutter tool of the root canal instrument to some extent using suitable hardware and soft components for the purpose of optimizing the performance of the root canal instrument during root canal treatment.

The root canal instrument 2 of a particular embodiment of the invention is described below with reference to FIG.

The root canal instrument 2 comprises a motor 6 adapted to rotate the root canal cutter tool 4 about a longitudinal axis AX. The motor can drive the root canal cutter tool 4 to rotate about the axis AX in two rotational directions (i.e., in direction S1 or in direction S2), as shown in FIG. These directions S1 and S2 are selected in a completely random manner, and this configuration constitutes only one possible embodiment of the invention.

The motor 6 is typically an electric motor for use in the field of root canal treatment.

In a preferred embodiment, the motor 6 is a micromotor and the root canal cutter tool 4 is coupled to the motor 6 by a suitable coupling member 13. By way of example, the coupling members 13 include corner pieces. The motor 6 preferably includes a universal fastener for the coupling member 13.

In a particular embodiment, the coupling member 13 and the motor 6 form all or only some of the members for driving the root canal cutter tool 4 to rotate about the axis AX.

The root canal cutter tool 4 has a configuration such that the rotation of at least one direction S1 is actively rotated. As noted above, in this document, the term "active rotation" is used to mean that the root canal cutter tool exhibits a cutting action when rotated in the direction in question. It follows that the direction S1 in this example is the cutting direction whereby the operator is able to perform a given root canal treatment.

Where appropriate, the root canal cutter tool 4 can be configured such that it also cuts when it is driven to rotate in the opposite direction S2, although this is not necessary. The root canal cutter tool 4 is preferably configured such that it does not cut (passively rotate) when it is driven to rotate in direction S2.

The root canal instrument 2 also has a control unit 8 coupled to the motor 6 and adapted to measure or monitor torque or torque (written as CP) (ie, the cutting torque of the root canal cutter tool 4 or the torque delivered by the motor 6).

The torque CP is monitored by means of a detector component 10 comprising, for example, one or more conventional types of sensors or sensors, and optionally an associated feedback system (also known). The detector component 10 can be at least partially incorporated into the control unit 8 in question.

More generally, and as described above, the control unit 6 can be incorporated into the motor 6 and/or the root canal instrument 2 either permanently or removably.

Furthermore, the control unit 8 may comprise or be associated with a member for interacting with the user (specifically, the interface 14 in the example of the invention). This interface 14 enables the operator to set the operating parameters of the root canal instrument 2 and, more generally, to control the operation of the root canal instrument. In particular, the interface 14 enables an operator to actuate or deactivate the root canal instrument 2 (specifically, the cutter tool 4) and/or its particular function. By way of example, Face 14 can include a keypad and/or a screen. In association or variation, the pedal PD in the containing interface 14 may be defined, as shown in FIG. 1, or include some other user operable or actuated to control actuation or stop of the root canal tool 4 element.

In a preferred manner, the root canal instrument 2 is adapted to operate in conjunction with various types of root canal cutter tools 4, and if desired, these types of root canal cutter tools 4 are removable and replaceable. Each tube cutter tool 4 can exhibit specific characteristics, particularly in terms of shape and size. As explained below, the operating parameters of the root canal instrument 2 can be set, in particular, depending on the type of root canal cutter tool 4 used.

Moreover, in this example, control unit 8 includes non-volatile memory 12 containing program PG. The program contains instructions for performing the automatic control method in a particular embodiment of the invention.

By way of example, control unit 8 may include a processor for performing the necessary functions in accordance with the instructions defined in program PG.

The main steps of the first particular embodiment of the method of automatically controlling the root canal cutter tool 4 in accordance with the present invention are set forth below with reference to Figures 2 and 3A through 3D. The particular embodiment shown in Figure 2 is referred to as an "alternate move" implementation.

In this particular embodiment, control unit 8 implements the automatic control method of the present invention by executing program PG contained in memory 12.

In the sequence of operations shown in Figure 2, the operator acts in step E2 to cause the root canal cutter tool 4 to rotate in direction S1 (E4; Figure 3A). This rotation E4 is actively rotated in the sense that the root canal cutter tool 4 assumes a cutting action when it is driven to rotate in the direction S1. During this active rotation of step E2, the root canal cutter tool 4 can begin its wiping and debris removal work.

In this particular example, the operator uses the interface 14 to initiate a rotational movement E4 of the tool 4 in direction S2 by, for example, pressing the pedal PD of the interface. Actuating the pedal PD causes the motor 6 to begin and thereby drive the root canal cutter tool 4 to rotate in direction S1.

Rotation E4 in direction S1 preferably occurs at a predetermined speed V1 which is the function of the root canal cutter tool 4 used. By way of example, the operator can set this predetermined speed V1 during the preliminary steps of setting the parameters of the root canal instrument 2.

Furthermore, during rotation E4 (and preferably from the start of rotation E4), control unit 8 is configured to measure torque CP and determine if torque CP is greater than predetermined limit torque CL. In this example, the torque CP is monitored by means of the detector component 10 of the control unit 8.

This predetermined limit value CL is preferably selected from a function of at least one item of the root canal cutter tool 4 and the motor 6 in use. By way of example, the value CL can be adapted as a function of the temperature of the motor at a given instant and/or a particular characteristic of the motor.

By way of example, the operator presets the limit value CL or automatically determines the limit value CL based on the type of root canal cutter tool 4 and/or the type of motor 6 by control unit 8.

If the torque CP (E6) measured by the control unit 8 does not exceed the limit value CL during the active rotation E4, the rotation of the root canal cutter tool 4 continues in the direction S1 without interruption until the control unit 8 detects the stop. The signal, for example, when the operator uses the pedal PD to cause the motor 6 to stop.

Conversely, if it is detected that the (E6) torque CP is greater than the predetermined limit value CL (eg, when CP>CL is detected, or another selection is when CP>CL is detected for a predetermined duration), then the control unit 8 The motor 6 is controlled to drive the root canal cutter tool 4 to rotate in a direction S2 opposite to the direction S1 and to pass through a predetermined angle α1 (E8; Fig. 3B).

In this embodiment, the rotation in direction S2 is passively rotated in the sense that root canal cutter tool 4 does not have any cutting action. This originates from, in particular, the root canal cutter tool 4 having a configuration selected in this example such that it cuts in direction S1 but does not cut in direction S2.

Alternatively, it is possible for the root canal cutter tool 4 to select a configuration that causes the motor 6 to drive the root canal cutter tool 4 to actively rotate in the direction S2.

The rotation step E8 thus enables the root canal cutter tool 4 to perform a return angular movement (α1), This movement can be, for example, in the range of 0° to 1440°, and preferably about 720°. When the control unit 10 detects an excessive torque CP, that is, when the tool 4 encounters excessive mechanical resistance during root canal treatment (for example, the rotation of the root canal cutter tool 4 depends on the setting of the value CL) This return movement advantageously frees or unlocks the root canal cutter tool 4 in the event of a significant overall stop or deceleration.

Once the return movement α1 (E8) is over, the control unit 8 controls the motor 6 such that it drives (E10) the root canal cutter tool 4 to again rotate in the first cutting direction S1. Restart (E10) active rotation in direction S1 allows root canal treatment to continue.

Restarting the movement E10 necessarily begins in direction S1, but it is possible to include a somewhat complex sequence of movement consisting of one or more angular movements in directions S1 and S2. In the presently illustrated example, the control unit 8 controls the motor 6 such that it drives the root canal cutter tool 4 to alternately rotate through the respective predetermined angles α2 and α3 in direction S1 and in direction S2. In other words, during step E10, the root canal cutter tool 4 is initially driven to rotate through a predetermined angle α2 (Fig. 3C) in direction S1, and then rotated through a predetermined angle α3 (Fig. 3D) in direction S2, and then It is again rotated through the predetermined angle α2 (Fig. 3C) and the like in the direction S1.

Performing the alternate rotation as described above effectively disables the root canal cutter tool in a particular environment where the root canal cutter tool 4 encounters high level of mechanical resistance while performing root canal treatment.

In a variant embodiment, the driven root canal cutter tool 4 is continuously rotated in the cutting direction S1 (without alternating between direction S1 and direction S2). In this variant, it is possible, for example, to envisage, when the root canal instrument 2 performs the active rotation E10, the control unit 8 re-monitoring the torque CP as explained above for the step E6 and performing the steps E6 to E10 for the required frequency.

It may be pre-set to make a selection between alternating or continuous rotation in step E10, or may be determined by the operator using interface 14 at the appropriate time.

More generally, the motor 6 acts on the root canal cutter tool 4 to drive the re-start movement E10 until the control unit 8 detects (E12) a stop signal for the motor 6, for example when the user uses the pedal PD to cause Rotate when E10 stops. In this example, when the operator releases the pedal PD, or another option is when the operator again presses the pedal PD again, the motor stop signal in step E12 is detected. Upon detecting (E12) this stop signal, the control unit 8 causes the motor 6 to stop (E14).

In a particular embodiment, the above sequence of steps E2 through E14 is repeated each time the pedal PD is pressed one by one.

In a particular embodiment, the root canal cutter tool 4 is driven during each of steps E4, E8 and E10 to have the same (but not necessarily) predefined rotational speed V regardless of the direction (S1 or S2) employed. Rotate.

Examples of settings for the parameters defined above are listed in the table below:

The values of the operational parameters and, in particular, the values recited in Table 1 above may be pre-programmed in the control unit 8 (eg, in the program PG) or may be used by the user in each instance (eg Use interface 14 to set up.

In variations, at each intervention or intervention, the operator may select by at least one predetermined value (values of one or more operational parameters that the operator considers to be suitable for the root canal instrument of the present invention). To set this parameter. By way of example, these predetermined values Pre-stored in the control unit 8 (in the memory 12) and presented to the operator during the preliminary setting step so that the operator can make a selection by means of the interface 14.

In a preferred manner, the operator initially sets the direction of rotation defined as S1 and S2, and α1, and possibly α2 and α3, to match the performance of the root canal instrument to the operating conditions.

The method preferably provides a variability threshold that cannot be crossed when the parameters are set by the user.

As described above, the root canal instrument can be configured to operate in conjunction with various root canal cutter tools. In such environments, the root canal instrument can have an engagement member (not shown) that enables releasable receipt of each tube cutter tool.

The invention has been described above with reference to specific embodiments that constitute only non-limiting examples of how the invention may be practiced. Variations are contemplated by those skilled in the art in the context of the present invention.

Claims (14)

A method of automatically controlling a root canal cutter tool (4) of a root canal instrument (2) that can be rotated by a motor (6) and used to monitor cutting torque (CP) and/or The motor-delivered torque control unit (8) is associated, the method comprising: rotating the root pipe cutter tool in a predetermined first cutting direction (S1) (E4) until the torque (CP) reaches a predetermined limit torque value (CL), the predetermined limit torque value is selected from a function of at least one item of the root canal cutter tool (4) and the motor (6); and when the limit torque value is reached: the root canal cutter tool is (4) rotating in a second direction (S2) opposite to the first cutting direction (S1) by a predetermined first rotation angle (α1) (E8); and then restarting (E10) the tube cutter tool (4) ) rotating in the first cutting direction (S1). The method of claim 1, wherein the first rotation angle (α1) is in the range of 0° to 1440°. The method of claim 1 or claim 2, wherein the second direction (S2) is a cutting direction or a passive rotation direction. The method of claim 1 or claim 2, wherein the predetermined limit torque value (CL) is equal to about 1.0 N.cm. The method of claim 1 or claim 2, wherein at least one of the steps (E4, E8, E10) of rotating the root canal cutter tool (4), the rotational speed of the root canal cutter tool is equal to about 300 rpm. The method of claim 1 or claim 2, wherein during the restarting of the rotation, the root pipe cutter tool is driven to continuously rotate in the first cutting direction (S1) until a motor stop signal is detected. The method of claim 1 or claim 2, wherein the restarting (E10) period Driving the root tube cutter tool to rotate in the first cutting direction (S1) and in the second direction (S2), respectively, via the second predetermined rotation angle (α2) and the third predetermined rotation angle (α3), respectively. Until the motor stop signal is detected. The method of claim 7, wherein the second rotation angle (α1) and the third rotation angle (α2) are in the range of 0° to 360°. The method of claim 8, wherein the second rotation angle (α2) is about 150°. The method of claim 8, wherein the third rotation angle (α3) is about 30°. The method of claim 1 or claim 2, comprising the preliminary step of setting the first direction (S1) and the second direction (S2). A computer program (PG) containing instructions for performing the steps of the control method of any one of claims 1 to 11 when the program is executed by the processor. A processor readable data medium (12) having stored thereon a computer program (PG) containing instructions for performing the steps of the control method of any of claims 1 to 11. A root canal instrument (2) comprising: a root canal cutter tool (4) that can be rotated by a motor (6); and a control unit (8) for monitoring cutting torque (CP) and/or the motor Torque delivered; the control unit is stylized as in any of claims 1 to 11.