WO2017088281A1 - 一种用于口腔和牙齿治疗的机器人系统 - Google Patents

一种用于口腔和牙齿治疗的机器人系统 Download PDF

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Publication number
WO2017088281A1
WO2017088281A1 PCT/CN2016/000648 CN2016000648W WO2017088281A1 WO 2017088281 A1 WO2017088281 A1 WO 2017088281A1 CN 2016000648 W CN2016000648 W CN 2016000648W WO 2017088281 A1 WO2017088281 A1 WO 2017088281A1
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WO
WIPO (PCT)
Prior art keywords
robot
patient
treatment
head
oral
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Application number
PCT/CN2016/000648
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English (en)
French (fr)
Inventor
张海钟
张雨同
Original Assignee
张海钟
张雨同
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Publication date
Application filed by 张海钟, 张雨同 filed Critical 张海钟
Publication of WO2017088281A1 publication Critical patent/WO2017088281A1/zh
Priority to US15/988,094 priority Critical patent/US11273091B2/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G15/00—Operating chairs; Dental chairs; Accessories specially adapted therefor, e.g. work stands
    • A61G15/14—Dental work stands; Accessories therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C19/00—Dental auxiliary appliances
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C19/00—Dental auxiliary appliances
    • A61C19/06—Implements for therapeutic treatment
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G15/00—Operating chairs; Dental chairs; Accessories specially adapted therefor, e.g. work stands
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G15/00—Operating chairs; Dental chairs; Accessories specially adapted therefor, e.g. work stands
    • A61G15/02—Chairs with means to adjust position of patient; Controls therefor
    • A61G15/08—Chairs with means to adjust position of patient; Controls therefor associated with seats for the surgeon or dentist
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis

Definitions

  • the present invention relates to a robotic system for oral and dental treatment, and more particularly to a robotic system capable of performing dental treatment by controlling a robot.
  • doctors In the existing dental treatment, doctors generally use manual treatment and surgical methods, requiring doctors to perform close observation and surgical operations. In the process, doctors need to spend a lot of physical strength, and need to maintain a low head and other posture for a long time. This causes the doctor to work fatigued for a long time and reduces the quality of the operation.
  • the invention provides a robotic system for oral and dental treatment. Based on the original dental handpiece, the system proposes a complete robotic system, which can be used as an integrated device for dental treatment, so that the device is based on the device. , capable of performing all on-site or remote operation of various types of dental treatments. Further, in the robot system, the robot as the operating body contains at least one robot that is replaceable for the treatment instrument, which ensures that the robot system can implement various types of dental treatment.
  • the patient can face forward or downward, or enable the patient to prone for dental treatment, which makes the patient in the dental treatment process In the middle of the mouth, the water spray can naturally flow out without staying in the mouth, reducing the discomfort caused to the patient due to the sewage.
  • a robot for oral and dental treatment which comprises:
  • the housing is detachable, and is provided with a fixing portion and a water spray port, the fixing portion fixing the base end of the therapeutic instrument to the housing;
  • a therapeutic device for performing a therapeutic operation on a patient's mouth and teeth the therapeutic device being replaceable, and being replaced with a different one of the therapeutic devices according to the particular needs of the treatment;
  • the therapeutic device comprising a laser Head, ultrasonic cleaning head, handle handle, polishing head, filling material injection head or filling head;
  • a water sprayer extending from the water spray port for spraying water or air at a certain pressure
  • a lighting device for illuminating the mouth and teeth of the patient
  • An imaging device is disposed on the housing to image a patient's mouth and teeth.
  • a treatment instrument carousel that is disposed inside the treatment instrument carousel and that extends from the treatment instrument carousel when treatment is needed
  • the robot uses the treatment instrument dial to achieve replacement of the therapeutic device.
  • the imaging device includes more than two cameras arranged for stereoscopic imaging of the teeth.
  • the camera magnifies the image by 1-20 times.
  • the robot further includes a resilient flap, wherein the resilient flap is disposed on a peripheral edge of the housing having one side of the treatment instrument for preventing the patient's tongue from touching the medical device.
  • a robotic system for oral and dental treatment comprising:
  • a body which is equipped with a controller and a driving device to control and drive the movement of the robot system;
  • At least one mechanical arm one end of which is movably connected to the main body through a joint portion, and the other end is movably connected to the robot through the joint portion, and includes at least one intermediate joint portion to allow the main body to control the robot to freely move in a three-dimensional space ;
  • a console including an operating device and a display device, the operating device transmitting operational information to the main body to control and drive movement of the mechanical arm and the robot, the display device receiving a position from the robot The image of the imaging device is displayed and displayed by a display device or a visual device.
  • the robot is capable of telescopic, tilting, and ⁇ 180° rotation with respect to the operatively coupled robotic arm; the robot further includes a pressure sensor for detecting operation of the therapeutic instrument at the tooth during treatment The resistance encountered and the test results are sent to the operating device in the console.
  • the display device comprises at least two display devices, which are respectively a display device for a patient and a display device for a doctor, the display device for displaying a flat image of the treatment for the patient, the doctor using the display device for Displaying a stereoscopic image to a doctor; the display device further includes two eyepieces, and the two eyepieces and the medical display device are used for stereoscopic imaging; the medical display device includes a waveform display interface, and the waveform display The interface displays the detection result of the pressure sensor.
  • the operating device includes at least one virtual operating handle, and the operating device and the console are connectable by wireless or wired.
  • the treatment robot system further includes an emergency stop device for stopping the rotation of the drill bit and slowly withdrawing the robot hand; the emergency stop device includes an emergency stop device for the doctor and an emergency stop device for the patient.
  • the treatment robot system further includes a navigation device including a main body portion and a navigation tracker, the main body portion being fixed to the robot system, the navigation tracker being connected to the robot system by wire or wirelessly, thereby being capable of Controlling its movement to observe the teeth of the patient, the navigation device positioning the teeth of the patient during the treatment according to the dental data collected by the patient before surgery, and displaying the therapeutic device into the teeth and root canal Depth and direction; the navigation tracker is placed on a separate robotic arm; the console allows setting according to the dental device's dental data The moving range of the robot, the robot stops moving when the robot exceeds the set moving range.
  • a seating device for a robotic system for oral and dental treatment comprising:
  • a head fixing portion for fixing a head of the patient such that a position of the patient's head relative to the seat portion is fixed
  • a direction adjusting portion for adjusting an inclination angle of the seat portion such that a face of the patient faces downward; the patient faces at an arbitrary angle between the front and the bottom.
  • a treatment bed for a robotic system for oral and dental treatment comprising:
  • a bed body the patient lying prone on the bed body, the bed body comprising a facial exposed portion, the patient's face is exposed from the face and facing downward;
  • a display is mounted in front of the patient's head under the bed, and the image captured by the front end camera of the robot It is also transmitted synchronously to the display in front of the patient's head so that the patient can simultaneously observe the process of treatment in the mouth;
  • the head fixation portion is located at the head after the patient is lying down so that the position of the patient's head relative to the bed body is fixed.
  • a direction adjustment portion for adjusting an inclination angle of the treatment bed.
  • the robot of the robotic system extends into the patient's mouth from below.
  • FIG. 1 is a schematic diagram of a robotic system for oral and dental treatment in accordance with a first embodiment of the present invention.
  • FIG. 2 is a perspective view of a robot of a robotic system for oral and dental treatment in accordance with a first embodiment of the present invention.
  • FIG. 3 is a view of a robot of a robot system for oral and dental treatment according to a first embodiment of the present invention as viewed from below.
  • FIG. 4 is a schematic view of the internal configuration of the upper casing viewed from below after the outer casing of the robot of the robot system for oral cavity and dental treatment is disassembled according to the first embodiment of the present invention.
  • Figure 5 is a schematic illustration of a robotic system for oral and dental treatment in accordance with a first embodiment of the present invention with the treatment instrument removed in the state shown in Figure 4.
  • Figure 6 is a schematic illustration of a seating arrangement for a robotic system for oral and dental treatment in accordance with a first embodiment of the present invention.
  • FIG. 7 is a schematic illustration of a treatment bed for a robotic system for oral and dental treatment in accordance with a second embodiment of the present invention.
  • FIG. 1 is a schematic diagram of a robotic system for oral and dental treatment in accordance with a first embodiment of the present invention.
  • 2 is a perspective view of a robotic hand of a robotic system for oral and dental treatment in accordance with a first embodiment of the present invention.
  • 3 is a view of a robot of a robotic system for oral and dental treatment according to a first embodiment of the present invention as viewed from below.
  • 4 is a schematic view showing the internal configuration of an upper casing viewed from below after the robot of the robot system for oral cavity and dental treatment according to the first embodiment of the present invention is detached.
  • Figure 5 is a schematic illustration of a robotic system for oral and dental treatment in accordance with a first embodiment of the present invention with the treatment instrument removed in the state shown in Figure 4.
  • Figure 6 is a seat mount of a robotic system for oral and dental treatment in accordance with a first embodiment of the present invention Schematic diagram of the setting.
  • a robot system for oral and dental treatment includes a console 1, a seat device 2, a robot 3, and a navigation device 4.
  • the console 1 is used to control the movement of the robot for various dental treatments;
  • the seat device 2 is used for adjusting and positioning the sitting posture of the patient, so as to fix the posture of the patient during the operation, and fix the patient relative to the navigation device
  • the robot 3 is a part directly performing dental treatment, which is controlled by a console;
  • the navigation device 4 is used to store dental data after CT scanning, and is used for dental navigation of complex surgery, for example, root canal treatment surgery.
  • the console 1 includes a display device 101, an operating device 102, and an emergency stop device 103, and the configuration of each portion will be specifically described below.
  • the display device 101 includes an eyepiece and a display device, wherein two eyepieces are used for observing the display result of the stereoscopic imaging; and the display device is at least two display devices, that is, a doctor display device and a patient display device, wherein the doctor uses
  • the display device is used to display the result of stereoscopic imaging to the doctor for observing the three-dimensional imaging through the eyepiece, and the patient is fixed on the seat device 2 with the display device or in the vicinity of the seat device 2 for displaying the video result of stereoscopic imaging to the patient, which is convenient The patient understands the progress of the operation.
  • the display device for the doctor includes a tooth image display interface and a waveform display interface of the pressure sensor.
  • the operating device may also be a virtual operating device, such as a virtual operating handle, which may be connected to the console via wireless or wired.
  • an emergency stop device 103 which is connected to the doctor with an emergency stop pedal and a patient emergency stop button to detect whether the two are in an emergency stop operation to stop the drill bit from rotating and slowly withdraw the robot hand in an emergency.
  • the doctor places the emergency stop pedal on the bottom of the console 1, so that the doctor's foot can easily perform the pedaling operation in an emergency;
  • the patient uses the emergency stop button to be placed on the seat device 2, or in the seat device 2 Nearby, the patient is able to easily press the emergency stop button in an emergency.
  • the seat device 2 includes a seat portion 201 which is identical to a conventional seat, and includes a backrest and a base so that a patient can sit on the seat device; a direction adjusting portion 202 disposed between the backrest of the seat portion and the base for adjusting an angle between the backrest and the base; and a head fixing portion 203 for fixing the patient's head so that the patient's The position between the head and the seat is relatively fixed.
  • the direction adjusting portion enables the head of the patient to be adjusted to face any angle between the front and the bottom.
  • the robot's robot reaches into the patient's mouth and performs a water spray operation, the sewage remaining in the patient's mouth can be immediately discharged without remaining in the oral cavity.
  • a seat device it is possible to prevent the sewage from being trapped in the patient's mouth when the patient performs dental treatment, and to reduce the patient's discomfort due to the sewage.
  • the robot 3 is the main body of the entire robot system.
  • the robot 3 includes: a main controller 31 and a driving device thereof, which controls and drives the operation of the entire robot according to operation information transmitted by the operating device 102; at least one robot arm 32 movably connected to the main body portion of the robot 3 To adjust the height, direction and angle of the robot arm so that the manipulator can move freely in the three-dimensional space; the robot 33 can extend into the patient's mouth and directly perform surgical operations on the tooth to be operated, the robot 33 and the robot arm 32 is movably connected by a joint, and the robot 33 can be telescoped, tilted, and ⁇ 180° rotated relative to the articulated robotic arm, wherein the telescoping is for the robot to advance or retreat in the direction of the central axis; the tilt is the center of the robot
  • the shaft is at an angle to the central axis of the robot arm; the rotation is circumferentially rotated relative to the central axis.
  • a navigation device 4 comprising a main body portion and a navigation tracker fixed to the robot system, the navigation tracker being coupled to the robot system by another mechanical arm to enable control of its movement.
  • the navigation device 4 is used for complex dental procedures, such as root canal treatment procedures.
  • a CT scan of the patient's teeth is performed in advance, and the scan result is stored in the navigation device 4, and the scan result is three-dimensional image data of the teeth, which can clearly display all the details of the teeth. Information and display the depth and direction of the treatment device into the tooth and root canal information.
  • the navigation device 4 positions the position of the tooth to be operated by, for example, an infrared probe (not shown) and navigates the entire dental procedure.
  • the navigation device can also set the range of movement of the robot, and when the range of movement of the robot exceeds the above range, the robot stops moving.
  • the head of the manipulator 33 is, for example, a wedge shape, and the housing of the robot hand 33 is detachable, for example, can be detached into two parts in the up and down direction in the drawing, that is, split into a figure.
  • the upper casing 310 and the lower casing 320 of 2.
  • the upper and lower housings 310 and 320 are connected by, for example, a conventional snap-fit structure, two hooks (not shown) are provided on one housing, and two card slots (not shown) are provided on the other housing. The hook and the card slot are connected and separated from each other to realize interconnection and separation of the two casings.
  • the robot 33 has an illumination device 302, an imaging device 303, a treatment instrument 304, a water sprayer 305, and a locking protrusion 306 at its head, and the configuration of each portion will be specifically described below.
  • a illuminating device 302 for illuminating the patient's mouth for clear imaging may be one or more illuminators. And the position of the illumination device 302 is not limited to the position in Figure 3, which may be arranged to surround a plurality of illumination lamps around the treatment instrument.
  • the imaging device 303 has two or more cameras for stereoscopic imaging, and transmits the imaging result to the display device 101 by, for example, wireless transmission or the like, to be displayed by the dental image display interface of the doctor's display device, so that the doctor and the patient can observe the operation.
  • the camera can enlarge the imaging result, for example, can be enlarged by 1-20 times.
  • the treatment instrument 304 extends from a surface of the head of the robot 33, for example, from the surface of the lower housing 320 having the largest area to perform a surgical operation on the patient's teeth.
  • the treatment device 304 can be manually replaced, that is, can be manually replaced with different types of treatment instruments according to different procedures, for example, can be a laser head, an ultrasonic cleaning head, a drill needle, an enlarged needle, a polishing head, a filling Material injection head or filling head, etc.
  • the robot can also be replaced with a suction device or the like.
  • the treatment device 304 can be manually replaced, and other methods can be used for the purpose of remote treatment.
  • the treatment device 304 can be an integrated treatment device, ie, a laser head, an ultrasonic cleaning head, a handle, a polishing head, a filling material injection head or a filling head, etc., can be placed on an integrated therapeutic instrument turntable as needed.
  • the treatment instrument turntable is disposed in the middle of the mechanical arm, and the treatment instrument turntable can be rotated relative to the robot.
  • the treating physician remotely controls the treatment.
  • the treating physician controls the treatment instrument turntable to rotate, rotates the therapeutic device to be replaced to a range that the mechanical arm can hold, selects the corresponding therapeutic device for surgical treatment, and then realizes the replacement of the therapeutic device. This allows the surgery to be performed completely under remote control.
  • the use of the treatment instrument turntable to complete the replacement of the treatment device with the robot can save the physical strength of the medical staff.
  • a sprinkler 305 disposed on the same surface as the surface on which the therapeutic device 304 protrudes to perform a water jet operation on the teeth of the patient undergoing surgery, the sprinkler 305 being relatively fixed to the aforementioned surface such that When the robot 33 is disassembled, the sprinkler 305 is detached with the lower housing 320 such that the sprinkler 305 does not affect the replacement of the treatment instrument 304.
  • the sprinkler 305 can spray water or spray a certain pressure of air to blow the gums, so that the doctor can observe the state of the teeth inside the gums.
  • the locking projection 306 is disposed on the inner surface of the upper housing 310 by a locking projection 306 made of an elastic material for securing the base of the therapeutic instrument 304. The end is thereby secured to the upper housing 310. Upon replacement of the treatment device 304, the locking projection 306 can be elastically deformed such that the therapeutic instrument 304 can be removed therefrom or secured therein.
  • the locking projection 306 is not limited to the above-described form, and may be other forms such as a strap, a tape, or the like as long as it can take out and fix the treatment instrument 304.
  • the upper housing 310 of the robot 33 is further provided with a pressure sensor 307 disposed between the upper housing 310 and the treatment instrument 304 for measuring the treatment device during the treatment.
  • the resistance encountered at the operation of the tooth, and the pressure sensor 307 is electrically connected to the main controller 31 to transmit the detection result of the pressure sensor to the main controller 31, thereby displaying the result on the display device 101 of the console 1, Displayed through the waveform display interface.
  • the manipulator 33 according to the first embodiment of the present invention further includes an elastic flap (not shown) provided at the outer peripheral edge of the end of the manipulator 33 provided with the treatment instrument 304 or the like, the direction and treatment of the setting The orientation of the instruments 304 is the same.
  • the hook of the outer casing 301 is separated from the card slot, thereby opening the outer casing 301. Since the ultrasonic cleaning head is fixed to the upper casing 310 by the locking projection 306, and the water sprayer 305 is fixed to the lower casing 320, when the outer casing 301 is opened, as shown in FIG. 4, the base end of the ultrasonic cleaning head is The locking projection 306 is locked, and the water sprayer 305 is separated from the upper casing 310 together with the lower casing 320 and the lighting device or the like provided on the lower casing.
  • the base end of the ultrasonic cleaning head is taken out from the locking protrusion 306, and since the locking protrusion 306 is made of an elastic material, the locking protrusions 306 are opposite to each other in the direction opposite to each other during the removal process. Deformation, so that the distance between the two locking protrusions becomes larger until the base end of the ultrasonic cleaning head is taken out from the locking protrusion 306, and the locking protrusion 306 returns to its original shape, and the state after removal is as shown in the figure 5 is shown.
  • the base end of the drill pin is pressed into the locking protrusion 306, and during the pressing process, the locking protrusions 306 are deformed in the opposite directions of the mutually facing directions, thereby changing the distance between the two locking protrusions. Large until the burr is pressed into the locking projection 306, the locking projection 306 returns to its original shape.
  • the head of the drill needle is aligned with the lower casing 320 to adjust and fix the position of the drill needle, and then the upper casing 310 and the lower casing 320 are locked with each other by the hook and the card slot, thereby completing the replacement of the treatment instrument 304. process.
  • Figure 7 is a diagram of a robotic system for oral and dental treatment in accordance with a second embodiment of the present invention
  • the treatment bed 20 is included in the second embodiment.
  • Other components in the second embodiment according to the present invention are the same as those in the first embodiment, and the description of these components is omitted.
  • a second embodiment in accordance with the present invention includes a treatment couch 20 that includes a bed body 204 that is a horizontal or approximately horizontal operating table such that the patient can prone on the operating table, the bed body 204 being near one end of the robot a face exposing portion 208 is provided at the end such that the patient's face is exposed from the facial exposing portion 208; the head securing portion 206 is disposed at the top of the patient's head such that the patient's head is fixed relative to the treatment couch 20;
  • the adjustment portion 205 connects the recliner portion 204 with the base 207 such that the angle of the bed body 204 with respect to the horizontal direction can be adjusted; and the base 207 supports the entire treatment bed 20 and is movably coupled to the direction adjustment portion 205.
  • the navigation device 4 is rotated by the movable mechanical arm to the lower side of the patient facing, Thereby the patient's teeth can be scanned. Moreover, the robot moves through the control of the console 1 to the direction in which the patient faces, that is, from below into the patient's mouth.
  • the patient is disposed below the bed body 204 with the display device to enable the patient to view the display device.
  • the patient With the treatment couch 20 of the second embodiment described above, the patient is placed prone on it.
  • the sprinkler sprays water into the patient's mouth, the sewage will automatically flow out of the mouth, avoiding the discomfort caused by the sewage.
  • step S1 the patient sits and uses the head fixing portion of the seat device 2 to position the patient's head relative to the seat.
  • the chair unit is fixed.
  • step S2 the therapeutic device is mounted as an ultrasonic cleaning head according to the replacement step of the aforementioned therapeutic device.
  • step S3 the robot 3 is controlled by the console 1. Firstly, the robot of the robot 3 is positioned near the tooth to be operated, and then the stereoscopic imaging result of the tooth to be operated is observed through the eyepiece and the display device 101, and according to the result, the position of the ultrasonic cleaning head is controlled by the operating device 102, so that It removes tartar on the surface of the tooth and the like to achieve cleaning. In this example, during the process of controlling the scalp to remove the tartar, the watering device is used to clean the teeth during the operation.
  • step S4 after the cleaning of the teeth is completed, the robot 33 is controlled to withdraw from the patient's mouth by the operating device 102, and the drill bit of the robot is disassembled and subjected to high temperature sterilization for the next use.
  • step S1 CT scan data of the teeth before surgery is stored in the navigation device 4.
  • step S2 the patient sits and fixes the head of the patient with respect to the seat device by the head fixing portion of the seat device 2.
  • step S3 the therapeutic device is mounted as a drill bit according to the replacement step of the aforementioned therapeutic device.
  • step S4 the robot 3 is controlled by the console 1, and the robot of the robot 3 is positioned near the teeth to be operated.
  • Step S5 observing the stereoscopic imaging result of the tooth to be operated and the display of the navigation system through the display device 101, controlling the drill bit to remove the tooth portion of the lesion, and observing the waveform display result of the pressure sensor and the display result of the navigation system to determine the tooth to be operated.
  • the lesions are all removed, and in this process, the sprinkler 305 is simultaneously controlled to spray water to clean.
  • Step S6 using the foregoing replacement method of the therapeutic device, replacing the drill bit with the enlarged needle, and observing the stereoscopic imaging result of the tooth to be operated and the display of the navigation system through the display device 101, controlling the enlarged needle to remove and disinfect the lesion in the root canal .
  • step S7 the enlarged needle is replaced with a filling injection head by using the above-mentioned replacement method of the therapeutic device, and the root canal and the tooth portion of the removed lesion are filled with different materials to complete the root canal treatment.
  • step S8 the manipulator 33 is controlled to withdraw from the patient's mouth by the operating device 102, and the filling material injection head of the robot is removed.
  • a complete dental treatment robot system is provided, and integrated treatment of various types of dental treatment is realized.
  • the patient can naturally flow out the sewage in the oral cavity during the dental treatment without being retained in the oral cavity, thereby reducing the discomfort caused to the patient due to the sewage.
  • the robot 33 may include two or more detachable housings and the like. It will be apparent to those skilled in the art that various modifications and changes can be made in the present invention. Any modifications, equivalent substitutions, improvements, etc. within the spirit and scope of the invention are intended to be included within the scope of the appended claims.

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  • Veterinary Medicine (AREA)
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  • General Health & Medical Sciences (AREA)
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  • Engineering & Computer Science (AREA)
  • Oral & Maxillofacial Surgery (AREA)
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Abstract

一种用于口腔和牙齿治疗的机器人系统，包括控制台（1）、座椅装置（2）、机器人（3）和导航装置（4）。控制台（1）包括显示装置（101）、操作装置（102）和急停装置（103）。座椅装置（2）包括身体支撑部（201）、方向调整部（202）和头部固定部（203）。机器人（3）包括主控制器（31）、机械臂（32）、机械手（33）。导航装置（4）根据预先存储的牙齿信息，在根管治疗手术中对牙齿内部进行导航。机械手（33）中的治疗器械（304）是可替换的。座椅装置（2）能够调整为使得患者（5）面朝前方与下方之间的任意角度或者俯卧。

Description

一种用于口腔和牙齿治疗的机器人系统 技术领域
本发明涉及一种用于口腔和牙齿治疗的机器人系统，尤其涉及一种能够通过控制机器人进行牙齿治疗的机器人系统。
背景技术
现有的牙科治疗中，医生一般采用手动治疗及手术的方法，需要医生进行近距离的观察和手术操作，在这个过程中，医生需要耗费大量的体力，并且需要长时间保持低头等姿势。这导致医生长时间工作容易产生疲劳，降低手术质量。
目前相关领域已经提出各种牙科手机，来代替牙科医生的手动操作，从而减少牙科医生的工作量，实现智能化牙科治疗。在上述牙科手机中，通过安装摄像头和照明装置，将患者口腔内部的牙齿图像发送至显示器，进而医生通过该显示器的显示进行手术操作。因此，医生无需对患者口腔长时间近距离观察和手术操作，大大降低了医生手术操作过程中所耗费的体力和精力，减轻了医生的疲劳感，相对提高了手术质量。
但是上述牙科手机还存在一定问题，其仅包含例如钻头这样的操作机械手，医生利用该机械手通过简单的控制实现手术的操作，而不能智能化地进行各种类型的牙科治疗操作，其应用范围较窄，且不能实现智能化控制等。
发明内容
本发明提出一种用于口腔和牙齿治疗的机器人系统，在原有的牙科手机的基础上，本系统提出了完整的机器人系统，其能够作为牙科治疗的集成化装置，使得在该装置的基础上，能够完成各种类型的牙科治疗的全部现场或远程操作过程。此外，在该机器人系统中，作为操作主体的机械手包含至少一个为治疗器械可替换的机械手，这保证了该机器人系统能够实现各种类型的牙科治疗。进一步地，该机器人系统中，通过调整座椅的方向，使得患者能够面朝前方或者下方，或者使得患者能够俯卧以进行牙科治疗，这使得患者在牙科治疗过程 中对口腔内的喷水能够自然流出，而不滞留在口腔内，减少由于污水而给患者带来的不适感。
具体地，根据本发明的一方面，提供一种用于口腔和牙齿治疗的机械手，其中包括：
壳体，该壳体为可拆装的，其上设置有固定部和喷水口，该固定部将治疗器械的基端固定于所述壳体；；
治疗器械，该治疗器械用于对患者的口腔和牙齿进行治疗操作，所述治疗器械是可替换的，并其根据治疗的具体需要而替换为不同的所述治疗器械；所述治疗器械包括激光头、超声洁牙头、手机柄、抛光头、填充材料注射头或填压头；
喷水器，该喷水器从所述喷水口伸出，用于以一定的压力喷出水或空气；
照明装置，该照明装置用以对所述患者的口腔和牙齿进行照明；
成像装置，该成像装置设置所述壳体上，以对患者的口腔和牙齿成像。
治疗器械转盘，所述治疗器械均设置在治疗器械转盘内部，当需要治疗时从治疗器械转盘内伸出
机械手通过治疗器械转盘来实现对治疗器械的更换。
进一步地，所述成像装置包括设置成用于对牙齿进行立体成像的两个以上的摄像头。
进一步地，所述摄像头将图像放大1-20倍。
进一步地，所述机械手还包括弹性挡片，其中该弹性挡片设置在所述壳体的具有所述治疗器械一边的外周边缘上，用于防止所述患者的舌头碰触所述医疗器械。
根据本发明的另一方面，提供了一种用于口腔和牙齿治疗的机器人系统，包括：
主体，其装有控制器以及驱动装置，以控制和驱动所述机器人系统的运动；
至少一个机械臂，其一端通过关节部与所述主体活动连接，另一端通过关节部与机械手活动连接，并包含至少一中间关节部，以允许所述主体控制所述机械手在三维空间进行自由运动；
如上述的任意一项所述的机械手，其与所述机械臂通过关节部活动连接；
控制台，其包括操作装置与显示装置，所述操作装置将操作信息发送至所述主体以控制和驱动所述机械臂和所述机械手的运动，所述显示装置接收来自所述机械手部的所述成像装置的图像并通过显示装置或目视装置显示。
进一步地，所述机械手能够相对于活动连接的所述机械臂进行伸缩、倾斜、以及±180°的旋转；所述机械手还包括压力传感器，用以检测治疗过程中所述治疗器械在牙齿处操作遇到的阻力，并将检测结果发送至所述控制台中的操作装置。
进一步地，所述显示装置包括至少两个显示设备，分别为患者用显示设备和医生用显示设备，所述患者用显示设备用于对患者显示治疗的平面图像，所述医生用显示设备用于对医生显示立体图像；所述显示装置还包括两个目镜，利用所述两个目镜与所述医生用显示设备以进行立体成像；所述医生用显示设备包括一波形显示界面，所述波形显示界面显示所述压力传感器的检测结果。
进一步地，所述操作装置包括至少一个虚拟操作手柄，所述操作装置与控制台可通过无线或有线连接。
进一步地，治疗机器人系统还包括急停装置，用于停止钻头转动并缓慢撤出机器手；所述急停装置包括医生用急停装置和患者用急停装置。
进一步地，治疗机器人系统还包括导航装置，该导航装置包括主体部和导航跟踪器，该主体部与所述机器人系统固定，该导航跟踪器通过有线或者无线方式与所述机器人系统连接，从而能够控制其移动以观察所述患者的牙齿，所述导航装置根据术前对患者采集的牙齿数据，在治疗过程中对所述患者的牙齿进行定位，并显示所述治疗器械进入牙齿及牙根管里的深度和方向；所述导航跟踪器设置在独立的机械臂上；所述控制台允许根据导航装置的牙齿数据设定 所述机械手的移动范围，当所述机械手超出设定的所述移动范围时，所述机械手停止移动。
根据本发明的另一方面，还设置了一种用于口腔和牙齿治疗的机器人系统的座椅装置，包括：
身体支撑部，其与治疗机器人系统之间的位置关系彼此固定；
头部固定部，其用于固定患者的头部，使得患者头部相对于所述座椅部的位置固定；
方向调整部，其用于调整所述座椅部的倾斜角度，使得所述患者的面部朝下；所述患者面朝前方与下方之间的任意角度。
根据本发明的另一方面，还设置了一种用于口腔和牙齿治疗的机器人系统的治疗床，包括：
床本体，患者俯卧在该床本体上，所述床本体包括面部露出部，其使得患者面部从其露出，并面朝下方；在床下方患者头部前方安装有显示器，机械手前端摄像头采集的影像也同步传输给患者头部前方的显示器，使患者也能同步观察到口腔里治疗的过程；
头部固定部，其位于患者俯卧之后的头部处，使得患者头部相对于所述床本体的位置固定。
方向调整部，其用于调整所述治疗床的倾斜角度。
所述机器人系统的机械手从下方伸入患者口中。
以下结合本发明的附图及优选实施方式对本发明的技术方案做进一步详细地描述，本发明的有益效果将进一步明确。
附图说明
此处所说明的附图用来提供对本发明的进一步理解，构成本发明的一部分，但其说明仅用于解释本发明，并不构成对本发明的不当限定。
图1是根据本发明第一实施例的用于口腔和牙齿治疗的机器人系统的示意图。
图2是根据本发明第一实施例的用于口腔和牙齿治疗的机器人系统的机械手的透视图。
图3是根据本发明第一实施例的用于口腔和牙齿治疗的机器人系统的机械手从下方观看的视图。
图4是根据本发明第一实施例的用于口腔和牙齿治疗的机器人系统的机械手的外壳拆开后从下方观看上壳体的内部构造的示意图。
图5是根据本发明第一实施例的用于口腔和牙齿治疗的机器人系统在图4所示的状态下移除治疗器械后的示意图。
图6是根据本发明第一实施例的用于口腔和牙齿治疗的机器人系统的座椅装置的示意图。
图7是根据本发明第二实施例的用于口腔和牙齿治疗的机器人系统的治疗床的示意图。
具体实施方式
下面将结合本发明的具体实施例及相应的附图对本发明技术方案进行清楚、完整地描述。显然，所描述的实施例仅是本发明一部分优选实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
[第一实施例]
下面结合图1至6说明根据本发明的第一实施例的用于口腔和牙齿治疗的机器人系统的具体构造。其中，图1是根据本发明的第一实施例的用于口腔和牙齿治疗的机器人系统的示意图。图2是根据本发明的第一实施例的用于口腔和牙齿治疗的机器人系统的机械手的透视图。图3是根据本发明的第一实施例的用于口腔和牙齿治疗的机器人系统的机械手从下方观看的视图。图4是根据本发明的第一实施例的用于口腔和牙齿治疗的机器人系统的机械手拆卸后从下方观看的上壳体的内部构造的示意图。图5是根据本发明的第一实施例的用于口腔和牙齿治疗的机器人系统在图4所示的状态下移除治疗器械后的示意图。图6是根据本发明的第一实施例的用于口腔和牙齿治疗的机器人系统的座椅装 置的示意图。
如图1所示，根据本发明的第一实施例的用于口腔和牙齿治疗的机器人系统包括：控制台1、座椅装置2、机器人3和导航装置4。
其中，控制台1用于控制机器人的运动以进行各种牙科治疗；座椅装置2用于对患者的坐姿进行调整和定位，以便于固定患者手术过程中的姿态，并且固定患者相对于导航装置4的位置；机器人3是直接进行牙科治疗的部分，其受控制台的控制；导航装置4用于存储通过CT扫描之后的牙齿数据，并用于复杂手术的牙齿导航，例如，根管治疗手术。下面结合附图具体描述机器人系统的各部分的构造。
控制台1包括显示装置101、操作装置102和急停装置103，下面具体描述各个部分的构造。
显示装置101包括目镜和显示设备，其中目镜为两个，用于观察立体成像的显示结果；并且显示设备为至少两个显示设备，即，医生用显设备和患者用显示设备，其中，医生用显示设备用于对医生显示立体成像的结果以便通过目镜观察到三维成像，患者用显示设备固定在座椅装置2上或者在座椅装置2附近，用于对患者显示立体成像的视频结果，方便患者了解手术的进行情况。其中，医生用显示设备包括牙齿图像显示界面和压力传感器的波形显示界面。
操作装置102，其用于检测医生对操作装置的操作，并将该操作信息发送至机器人3的主控制器31，以控制机械手的运动，其中操作装置不限于例如操作手柄或者控制面板这样的实体操作装置，还可以是虚拟操作装置，例如，虚拟操作手柄，其可以与控制台通过无线或者有线连接。
以及急停装置103，其与医生用急停踏板和患者用急停按钮相连，以检测两者是否进行急停操作，以便在紧急情况下停止钻头转动并缓慢撤出机器手。其中，医生用急停踏板置于控制台1的底部，使得医生的脚能够在紧急情况下容易地进行踩踏操作；患者用急停按钮置于座椅装置2上，或者在座椅装置2 附近，使得患者能够在紧急情况下容易地按下急停按钮。
如图6所示，根据第一实施例的座椅装置2包括：座椅部201，该座椅部与传统的座椅相同，包括靠背和底座，使得患者能够坐在该座椅装置上；方向调整部202，该方向调整部设置在座椅部的靠背与底座之间，用于调整靠背与底座之间的角度；以及头部固定部203，其用于固定患者头部，使得患者的头部与座椅之间的位置相对固定。
其中，方向调整部使得患者的头部能够调整为面向前方与下方之间的任意角度。在这种情况下，当机器人的机械手伸进患者口腔内并进行喷水操作时，残留在患者口中的污水能够即时排出，而不会滞留在口腔内。利用这样的座椅装置，能够在患者进行牙科治疗时，不将污水滞留在患者口腔中，减少患者由于污水而带来的不适感。
机器人3是整个机器人系统的主体。该机器人3包括：主控制器31及其驱动装置，其根据操作装置102所发送的操作信息，控制和驱动整个机器人的运行；至少一个机械臂32，其与机器人3的主体部分可活动地相连，以调整机器人手臂的高度、方向和角度，从而使得机械手能够在三维空间内自由活动；机械手33，该机械手33可以伸入患者口腔，对待手术的牙齿直接进行手术操作，该机械手33与机械臂32通过关节而可活动地连接，并且该机械手33可以相对于活动连接的机械臂伸缩、倾斜以及±180°旋转，其中，伸缩为机械手在中心轴方向上前进或后退；倾斜为该机械手的中心轴与该机械臂的中心轴呈一定角度；旋转为相对于中心轴在周向上旋转。稍后将结合图2至5描述该机械手33的具体构造；以及基座部34，其用于支撑及定位机器人3。
导航装置4，该导航装置包括主体部和导航跟踪器，该主体部与所述机器人系统固定，该导航跟踪器通过另一个机械臂与所述机器人系统连接，从而能够控制其移动。该导航装置4用于复杂的牙齿手术，例如，根管治疗手术。在牙齿手术之前的检查牙齿过程中，预先对患者牙齿进行CT扫描，并将该扫描结果存储在该导航装置4中，该扫描结果为牙齿的三维图像数据，其可以清晰的显示牙齿的所有细节信息，并显示治疗器械进入牙齿及牙根管内的深度和方向 信息。在牙齿手术过程中，该导航装置4通过例如红外线探头(未示出)对待手术的牙齿位置进行定位，并对整个牙齿手术过程进行导航。该导航装置还可以设置机械手的移动范围，当机械手的移动范围超过上述范围时，使机械手停止移动。
以上为根据本发明的第一实施例的用于口腔和牙齿治疗的机器人系统的构造。下面结合图2至5具体描述根据第一实施例的机械手33的构造。
如图2所示，机械手33的头部为例如楔形形状，并且该机械手33的壳体是能够拆装的，例如，能够在图中的上下方向上拆卸为两部分，即，拆分为图2中的上壳体310和下壳体320。该上下壳体310和320通过例如传统的卡合结构连接，在一个壳体上设置两个卡钩(未示出)，在另一壳体上设置两个卡槽(未示出)，通过卡钩与卡槽的互相连接和分离，实现两个壳体的互相连接和分离。
此外，如图3所示，该机械手33在其头部处具有照明装置302、成像装置303、治疗器械304、喷水器305和锁紧突起306，下面具体描述各个部分的构造。
照明装置302，其用于对患者口腔内进行照明，以便于清晰地成像，该照明装置可以是一个或者多个照明灯。并且照明装置302位置不限于图3中的位置，其可以设置成环绕在治疗器械周围的多个照明灯。
成像装置303具有2个以上的摄像头，以进行立体成像，并将摄像结果通过例如无线传输等发送至显示装置101，以通过医生用显示设备的牙齿图像显示界面显示，便于医生和患者观察手术情况。其中，该摄像头可对摄像结果进行放大，例如，可以放大1-20倍。
治疗器械304，该治疗器械304从机械手33的头部的一个表面伸出，例如，从下壳体320的面积最大的表面伸出，以对患者牙齿进行手术操作。该治疗器械304可以手动进行替换，即，可以根据不同的手术而手动替换成不同类型的治疗器械，例如，可以是激光头、超声洁牙头、钻针、扩大针、抛光头、填充 材料注射头或填压头等。该机械手也可以替换成吸唾器等。
此外，该治疗器械304除了可以手动替换之外，为了实现远程治疗的目的，还可以采用其它方法设置。例如，该治疗器械304可以是集成式治疗器械，即，将激光头、超声洁牙头、手机柄、抛光头、填充材料注射头或填压头等根据需要而设置在一个集成的治疗器械转盘上(治疗器械转盘的结构和安装位置在附图中未示出)，治疗器械转盘设置在机械臂的中部，治疗器械转盘能够相对机械手进行转动，当进行治疗时，治疗医师远程控制治疗的进行，当需要进行更换治疗器械时，治疗医师控制治疗器械转盘进行旋转，将需更换的治疗器械转动至机械臂能够夹持的范围，选择其中对应的治疗器械进行手术治疗，进而实现治疗器械的更换，使得手术能够在远程控制下完整的进行。采用治疗器械转盘来配合机械手完成治疗器械的更换能够节省医护人员的体力。
喷水器305，该喷水器305设置在与治疗器械304伸出的表面相同的表面上，以对进行手术的患者牙齿进行喷水操作，该喷水器305与前述表面相对固定，使得当将机械手33拆卸时，该喷水器305与下壳体320一起被拆卸，从而使得喷水器305不影响治疗器械304的替换。此外，该喷水器305可以喷出水，也可以喷出带有一定压力的空气，以吹开牙龈，方便医生观察牙龈内部牙齿的状态。
锁紧突起306，如图4所示，该治疗器械304利用锁紧突起306设置在上壳体310的内表面上，该锁紧突起306由弹性材料制成，用于固定治疗器械304的基端，从而将该治疗器械304固定在上壳体310上。在对治疗器械304进行替换时，该锁紧突起306能够弹性变形，使得治疗器械304能够从中取出或者固定在其中。该锁紧突起306不限于上述形式，还可以是例如绑带、粘带等其它形式，只要其能够取出和固定治疗器械304即可。
如图5所示，根据本发明的机械手33的上壳体310上还设置有压力传感器307，其设置在上壳体310与治疗器械304之间，用以测治疗过程中所述治疗器械在牙齿处操作遇到的阻力，并且该压力传感器307与主控制器31电连接，以将压力传感器的检测结果传输至主控制器31，进而将该结果显示在控制台1的显示装置101上，以通过波形显示界面显示。
此外，根据本发明的第一实施例的机械手33还包括弹性挡片(未示出)，其设置在机械手33的设置有治疗器械304等的端部的外周边缘处，其设置的方向与治疗器械304的方向相同。
以上为根据本发明的第一实施例的用于口腔和牙齿治疗的机器人系统的机械手33的具体构造。下面结合图2至5描述该机械手33中治疗器械304的具体替换过程。以将治疗器械304从超声洁牙头替换为钻针为例。
首先，使外壳301的卡钩与卡槽互相分离，从而将外壳301打开。由于超声洁牙头通过锁定突起306而与上壳体310固定，并且喷水器305与下壳体320固定，所以当外壳301打开时，如图4所示，超声洁牙头的基端由锁紧突起306锁紧，而喷水器305和下壳体320及下壳体上设置的照明装置等一起与上壳体310分离。
然后，将超声洁牙头的基端从锁紧突起306中取出，由于锁紧突起306为弹性材料制成，因此，在取出的过程中，锁紧突起306在互相面对的方向的反方向上变形，从而使两个锁紧突起之间的距离变大，直至该超声洁牙头的基端从该锁紧突起306取出，锁紧突起306恢复到其原始的形状，取出后的状态如图5所示。
接着，将钻针的基端压入锁紧突起306中，在压入的过程中，锁紧突起306在互相面对的方向的反方向上变形，从而使两个锁紧突起之间的距离变大，直至该钻针压入到锁紧突起306中，该锁定突起306恢复到原始的形状。
最后，将钻针的头部对准下壳体320，从而调整并固定钻针的位置，然后利用卡钩与卡槽将上壳体310与下壳体320互相锁定，完成治疗器械304的替换过程。
[第二实施例]
图7是根据本发明的第二实施例的用于口腔和牙齿治疗的机器人系统的治 疗床20的示意图。与第一实施例中的座椅装置2不同，第二实施例中包括治疗床20。根据本发明的第二实施例中其它的部件与第一实施例相同，并且省略了这些部件的说明。
根据本发明的第二实施例包括治疗床20，该治疗床20包括：床本体204，其为水平或者近似水平的手术台，使得患者能够俯卧在手术台上，该床本体204靠近机器人的一端的端部处设置有面部露出部208，使得患者面部从该面部露出部208露出；头部固定部206，其设置在患者的头顶处，使得患者的头部相对于该治疗床20固定；方向调整部205，其连接躺椅部204与基座207，使得床本体204相对于水平方向的角度可以调整；以及基座207，其支撑整个治疗床20，并且与方向调整部205可活动连接。
由于该治疗床20中，患者面朝下方，因此，在该用于口腔和牙齿治疗的机器人系统中，与第一实施例相同，导航装置4通过可活动机械臂转动至患者面对的下方，从而能够扫描到患者的牙齿。并且，机械手通过控制台1的控制运动到患者面朝的方向，即从下方伸入患者口中。
此外，在根据第二实施例的用于口腔和牙齿治疗的机器人系统中，患者用显示设备设置在床本体204的下方，以使得患者能够观看到该显示设备。
通过上述第二实施例的治疗床20，使得患者俯卧在其上。当喷水器对患者口腔内喷水时，污水会自动从口腔内流出，避免了因污水而产生的不适感。
以上描述了根据第一实施例和第二实施例的用于口腔和牙齿治疗的机器人系统。下面根据前述第一实施例或第二实施例的用于口腔和牙齿治疗的机器人系统的构造，结合具体实例描述整个系统的具体工作过程。
(一)结合前述实施例的用于口腔和牙齿治疗的机器人系统的具体构造，描述进行洗牙手术过程中机器人系统的操作过程。
步骤S1，患者就坐，利用座椅装置2的头部固定部将患者的头部相对于座 椅装置固定。
步骤S2，根据前述治疗器械的替换步骤，将治疗器械安装为超声洁牙头。
步骤S3，利用控制台1对机器人3进行控制。首先将机器人3的机械手定位在待手术的牙齿附近，然后通过目镜及显示装置101观察待手术牙齿的立体成像结果，进而根据该结果，利用操作装置102对超声洁牙头的位置进行控制，使其清除牙齿表面的牙垢等而实现洗牙。在本实例中，控制超声洁牙头去除牙垢的过程中，同时使用喷水装置，清洗手术中的牙齿。
步骤S4，洁牙完成之后，通过操作装置102控制机械手33从患者口腔内退出，并将机械手上的钻头拆卸下来，进行高温消毒，以备下次使用。
(二)下面结合前述第一实施例或第二实施例的用于口腔和牙齿治疗的机器人系统的具体构造，描述在进行牙齿根管治疗过程中机器人系统的工作过程。
步骤S1，将手术前对牙齿进行的CT扫描数据存储在导航装置4中。
步骤S2，患者就坐，利用座椅装置2的头部固定部将患者的头部相对于座椅装置固定。
步骤S3，根据前述治疗器械的替换步骤，将治疗器械安装为钻头。
步骤S4，利用控制台1对机器人3进行控制，将机器人3的机械手定位在待手术的牙齿附近。
步骤S5，通过显示装置101观察待手术牙齿的立体成像结果和导航系统的显示，控制钻头去除病变的牙齿部分，同时观察压力传感器的波形显示结果和导航系统的显示结果，以确定待手术牙齿的病变部分全部去除，在此过程中，同时控制喷水器305喷水清洗。
步骤S6，利用前述的治疗器械的替换方法，将钻头替换为扩大针，并通过显示装置101观察待手术牙齿的立体成像结果和导航系统的显示，控制扩大针将根管内的病变去除并且消毒。
步骤S7，利用前述的治疗器械的替换方法，将扩大针替换为填充注射头，将去除病变的根管及牙齿部分利用不同的材料进行填充，完成该根管治疗。
步骤S8，通过操作装置102控制机械手33从患者口腔内退出，并将机械手上的填充材料注射头拆卸下来。
上述为根据本发明的用于口腔和牙齿治疗的机器人系统的具体工作过程。其它的手术过程，例如补牙手术，可以采用对应的治疗器械，并且与上述步骤相似的步骤进行处理，这里省略了其具体说明。
根据上述第一实施例和第二实施例的用于口腔和牙齿治疗的机器人系统及其具体的工作过程，提供了完整的牙科治疗的机器人系统，实现了各种类型的牙科治疗的集成化处理。并且通过座椅装置的具体设置，使得患者在牙科治疗过程中对口腔内的污水能够自然流出，而不滞留在口腔内，减少由于污水而给患者带来的不适感。
以上所述仅为本申请的实施例而已，并不用于限制本发明，例如，机械手33可以包括2个以上可拆卸的壳体等。对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的权利要求范围之内。

Claims (11)

  1. 一种用于口腔和牙齿治疗的机械手，其中包括：
    壳体，该壳体为可拆装的，其上设置有固定部和喷水口，该固定部将治疗器械的基端固定于所述壳体；
    治疗器械，该治疗器械用于对患者的口腔和牙齿进行治疗操作，所述治疗器械是可替换的，并其根据治疗的具体需要而替换为不同的所述治疗器械；所述治疗器械包括激光头、超声洁牙头、手机柄、抛光头、填充材料注射头或填压头；
    喷水器，该喷水器从所述喷水口伸出，用于以一定的压力喷出水或空气；
    照明装置，该照明装置用以对所述患者的口腔和牙齿进行照明；
    成像装置，该成像装置设置在所述壳体上，以对所述患者的口腔和牙齿成像；
    治疗器械转盘，所述治疗器械均设置在治疗器械转盘内部，当需要治疗时从治疗器械转盘内伸出；
    机械手通过治疗器械转盘来实现对治疗器械的更换。
  2. 如权利要求1所述的机械手，其中所述成像装置包括设置成用于对牙齿进行立体成像的两个以上的摄像头。
  3. 如权利要求1所述的机械手，还包括弹性挡片，其中该弹性挡片设置在所述壳体的具有所述治疗器械一侧的外周边缘上，用于防止所述患者的舌头碰触所述医疗器械。
  4. 一种用于口腔和牙齿治疗的机器人系统，包括：
    主体，其装有控制器以及驱动装置，以控制和驱动所述机器人系统的运动；
    至少一个机械臂，其一端通过关节部与所述主体活动连接，另一端通过关节部与机械手活动连接，并包含至少一中间关节部，以允许所述主体控制所述机械手在三维空间进行自由运动；
    如权利要求1至3的任意一项所述的机械手，其与所述机械臂通过关节部活动连接；
    控制台，其包括操作装置与显示装置，所述操作装置将操作信息发送至所述主体以控制和驱动所述机械臂和所述机械手的运动，所述显示装置接收来自所述机械手的所述成像装置的图像并通过显示装置或目视装置显示。
  5. 如权利要求4所述的机器人系统，其中所述机械手能够相对于活动连接的所述机械臂进行伸缩、倾斜、以及±180°的旋转；所述机械手还包括压力传感器，用以检测治疗过程中所述治疗器械在牙齿处操作遇到的阻力，并将检测结果发送至所述控制台中的操作装置。
  6. 如权利要求4所述的机器人系统，其中所述显示装置包括至少患者用显示设备和医 生用显示设备，所述患者用设备用于对患者显示治疗的平面图像设备用；所述显示装置还包括两个目镜，利用所述两个目镜与所述医生用显示设备以进行立体成像；所述医生用显示设备包括一波形显示界面，所述波形显示界面显示所述压力传感器的检测结果。
  7. 如权利要求4所述的机器人系统，其中所述操作装置包括至少一个虚拟操作手柄，所述操作装置与控制台可通过无线或有线连接。
  8. 如权利要求4所述的机器人系统，还包括急停装置，用于停止治疗器械运动并缓慢撤出机器手；所述急停装置包括医生用急停装置和患者用急停装置。
  9. 如权利要求4所述的机器人系统，还包括导航装置，该导航装置包括主体部和导航跟踪器，该主体部与所述机器人系统固定，该导航跟踪器通过有线或者无线方式与所述机器人系统连接，从而能够控制其移动以观察所述患者的牙齿，所述导航装置根据术前对患者采集的牙齿数据，在治疗过程中对所述患者的牙齿进行定位，并显示所述治疗器械进入牙齿及牙根管里的深度和方向；所述导航跟踪器设置在独立的机械臂上；所述控制台允许根据导航装置的牙齿数据设定所述机械手的移动范围，当所述机械手超出设定的所述移动范围时，所述机械手停止移动。
  10. 一种用于权利要求5-9的其中任一项所述的用于口腔和牙齿治疗的机器人系统的座椅装置，包括：
    身体支撑部，其与治疗机器人系统之间的位置关系彼此固定；
    头部固定部，其用于固定患者的头部，使得所述患者的头部相对于所述身体支撑部的位置固定；
    方向调整部，其用于调整所述身体支撑部的倾斜角度，使得所述患者的面部朝下：其中所述患者面朝前方与下方之间的任意角度。
  11. 一种用于权利要求5-9的其中任一项所述的口腔和牙齿治疗的机器人系统的治疗床，包括：
    床本体，患者俯卧在该床本体上，所述床本体包括面部露出部，其使得患者面部从其露出，并面朝下方，在床下方患者头部前方安装有显示器，机械手前端摄像头采集的影像也 同步传输给患者头部前方的显示器，使患者也能同步观察到口腔里治疗的过程；
    头部固定部，其位于患者俯卧之后的头部处，使得患者头部相对于所述床本体的位置固定；
    方向调整部，其用于调整所述治疗床的倾斜角度；
    所述机器人系统的机械手从下方伸入患者口中。
PCT/CN2016/000648 2015-11-24 2016-11-22 一种用于口腔和牙齿治疗的机器人系统 WO2017088281A1 (zh)

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